Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator

作者：Lou, Jun-qiang^*; Wei, Yan-ding; Yang, Yi-ling; Xie, Feng-ran

来源：Smart Materials and Structures, 2015, 24(3): 035007.

DOI：10.1088/0964-1726/24/3/035007

• smart flexible manipulator
• hybrid control strategy
• effective multi-mode positive position feedback
• piezoelectric actuator

A hybrid control strategy for slewing and vibration suppression of a smart flexible manipulator is presented in this paper. It consists of a proportional derivative controller to realize motion control, and an effective multi-mode positive position feedback (EMPPF) controller to suppress the multi-mode vibration. Rather than treat each mode equally as the standard multi-mode PPF, the essence of the EMPPF is that control forces of different modes are applied according to the mode parameters of the respective modes, so the vibration modes with less vibration energy receive fewer control forces. Stability conditions for the close loop system are established through stability analysis. Optimal parameters of the EMPPF controller are obtained using the method of root locus analysis. The performance of the proposed strategy is demonstrated by simulation and experiments. Experimental results show that the first two vibration modes of the manipulator are effectively suppressed. The setting time of the setup descends approximately 55%, reaching 3.12 s from 5.67 s.

• 出版日期2015-3
• 单位浙江大学; 宁波大学