Master-Slave Integrated Control for the Transverse Vibration of a Translational Flexible Manipulator Based on Input Shaping and State Feedback
Joint Authors
Li, Wei
Liu, Yufei
Ju, Jinyong
Zhang, Chunrui
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-06-04
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Ju, Jinyong& Li, Wei& Liu, Yufei& Zhang, Chunrui. 2019. Master-Slave Integrated Control for the Transverse Vibration of a Translational Flexible Manipulator Based on Input Shaping and State Feedback. Shock and Vibration،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1211608
Modern Language Association (MLA)
Ju, Jinyong…[et al.]. Master-Slave Integrated Control for the Transverse Vibration of a Translational Flexible Manipulator Based on Input Shaping and State Feedback. Shock and Vibration No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1211608
American Medical Association (AMA)
Ju, Jinyong& Li, Wei& Liu, Yufei& Zhang, Chunrui. Master-Slave Integrated Control for the Transverse Vibration of a Translational Flexible Manipulator Based on Input Shaping and State Feedback. Shock and Vibration. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1211608
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1211608