Abstract
This paper presents experimental identification and vibration suppression of a flexible manipulator with piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined where the move distance of the closed loop poles is the shortest. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Accordingly, multi-mode vibrations of the manipulator are well attenuated.
Highlights
In the fields of aerospace, robotics, civil engineering and other industries, flexible structures are prevailing due to their advantages of lightweight and lower energy consumption
Experimental identification and multi-mode vibration suppression of a smart flexible manipulator bonded with piezoelectric actuators and strain sensors are conducted in this paper
A reduced order transfer function representing the physical system is proposed, and a first-order inertia element is added to the model for experimental identification
Summary
In the fields of aerospace, robotics, civil engineering and other industries, flexible structures are prevailing due to their advantages of lightweight and lower energy consumption. Numerical approaches based on finite element method (FEM) are developed to obtain equivalent finite-dimensional models of smart structures, and yield fairly accurate results [6]. These approaches always require intensive mathematical derivations, which are usually labor intensive and time consuming. In order to estimate the model parameters of a flexible structure with collocated sensors/actuators, Bhikkaji et al [15] proposed a novel frequency domain subspace identification scheme using the negative imaginary approach. Classical feedback control strategies receive considerable attention as no adaptation time or reference signal is needed Among those control methods, the poles placement method (PPM) is an effective approach for active vibration suppression despite its simplicity; it offers.
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