Master-Slave Integrated Control for the Transverse Vibration of a Translational Flexible Manipulator Based on Input Shaping and State Feedback

Jin-Yong Ju,Yufei Liu,Wei Li,Chunrui Zhang

doi:10.1155/2019/8419591

Abstract

The problem of the elastic vibration control for a translational flexible manipulator system (TFMS) under variable load conditions is studied. The input shaper can effectively filter out the vibration excitation components for the flexible manipulator in the driving signals, but the adaptability and rapidity of the conventional input shaper are poor because it is essentially an open-loop control mode and there are time-lag links inevitably. Thus, by combining the state feedback with the input shaping, a master-slave integrated controller of the TFMS is proposed. Moreover, in order to solve the time-lag effect of the conventional input shaper, based on the optimal algorithm, a two-mode vibration cascade shaper for the TFMS is designed. Then, under variable load conditions, the control effects of the conventional input shapers, the two-mode vibration cascade shaper, and the combination of the state feedback integral controller (SFIC) with the above shapers are investigated. The results show that the designed master-slave integrated controller has high robustness under variable load conditions and takes good account of the requirements of system response time and overshoot for achieving the goal of nonovershoot under fast response speed. Simulation experiment results verify the effectiveness of the designed controller.

Highlights

Academic Editor: Gabriele Cazzulani e problem of the elastic vibration control for a translational flexible manipulator system (TFMS) under variable load conditions is studied. e input shaper can effectively filter out the vibration excitation components for the flexible manipulator in the driving signals, but the adaptability and rapidity of the conventional input shaper are poor because it is essentially an open-loop control mode and there are time-lag links inevitably. us, by combining the state feedback with the input shaping, a master-slave integrated controller of the TFMS is proposed
In order to solve the time-lag effect of the conventional input shaper, based on the optimal algorithm, a two-mode vibration cascade shaper for the TFMS is designed. en, under variable load conditions, the control effects of the conventional input shapers, the two-mode vibration cascade shaper, and the combination of the state feedback integral controller (SFIC) with the above shapers are investigated. e results show that the designed masterslave integrated controller has high robustness under variable load conditions and takes good account of the requirements of system response time and overshoot for achieving the goal of nonovershoot under fast response speed
On the SMT assembly line, the packaging equipment is the device whose actuators are mainly assembled by the mechanical manipulator [1, 2]. us, the structural and dynamic characteristics of the mechanical manipulator have a very important influence on the encapsulation level of the integrated circuit (IC) board. e rigid structures are often adopted to the traditional SMT assembly manipulator, and the overall structure is heavy and the structural buffeting is inevitable, which have a great influence on the working efficiency and positioning accuracy of the whole machine

Summary

Research Article

Received 19 February 2019; Revised 9 April 2019; Accepted 7 May 2019; Published 4 June 2019. En, under variable load conditions, the control effects of the conventional input shapers, the two-mode vibration cascade shaper, and the combination of the state feedback integral controller (SFIC) with the above shapers are investigated. For the purpose of improving the robustness, rapidity, and accuracy of the vibration controller under variable load conditions, the combination mode of the state feedback controller and the input shaper is investigated to constitute the master-slave integrated controller for the elastic vibration of the TFMS. En, with our previous work on the design of the two-timescale observer for the flexible manipulator combined [31], the SFIC of the TFMS is constructed and shown, where Yr(L, t) is the expected displacement of the end of the TFMS, Kz is the gain matrix of the state feedback controller, Ki is the coefficient of the integral controller, and Δ􏽢 represents the observation value of the corresponding quantity. Based on the system controllability and observability theory, one can obtain that the state variables of the TFMS are completely controllable and observable [32, 33]. en, with our previous work on the design of the two-timescale observer for the flexible manipulator combined [31], the SFIC of the TFMS is constructed and shown in Figure 2, where Yr(L, t) is the expected displacement of the end of the TFMS, Kz is the gain matrix of the state feedback controller, Ki is the coefficient of the integral controller, and Δ􏽢 represents the observation value of the corresponding quantity. e SFIC of the TFMS mainly includes three parts: the two-time-scale observer, the state feedback controller, and the integral controller. e twotime-scale observer, including the speed observer and the vibration observer, is designed to achieve the estimation

Fast subsystem

Feedback gain

Conclusions