A vibration damped flexible robot: identification and parameter optimization

Concrete pump truck plays an important role in infrastructure construction and national economic development. In recent years, its boom system becomes longer, and its dynamic and control become more complicated. In order to study the dynamic characteristics of boom system, three dynamic models such as multi-rigid-body model, rigid-flexible coupling model, and rigid-flexible coupling model with equivalent hydraulic cylinder were built in this work. Simulation analysis and experimental analysis were done, and they show that we should not only consider the large-range motion but also consider the small flexible deformation to study the dynamic characteristics of boom system precisely. It provides the theoretical basis to vibration control, trajectory prediction, and life assessment for boom system and such structures.

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“…The equivalent stiffness k and equivalent damping c can be calculated from Shabana 14 and Nissing. 15 …”

Section: Virtual Spring-damper Methodsmentioning

confidence: 99%

Research on rigid–flexible coupling dynamic characteristics of boom system in concrete pump truck

Tang

Ren

2015

Advances in Mechanical Engineering

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“…Previously, there are several implementations of proportional gain controller in vibration suppression area. Nissing utilized the proportional gain controller to compare the performance with optimization system identification strategy of vibration damped for a flexible robot [3].…”

Section: A Proportional Controller Schemementioning

confidence: 99%

Experimental evaluation of Active Vibration Control of a flexible plate using proportional gain controller

Rahman

Darus

2011

2011 IEEE Symposium on Industrial Electronics and Applications

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Active Vibration Control (AVC) is well known nowadays as an optimum technique in vibration suppression of flexible structures. Due to the complexity of the dynamics system of flexible structures, vibration control process is quite a challenge. In this paper, the vibration control of flexible plate using classical proportional feedback gain controller method is studied, experimentally. The AVC-P controller design is implemented to a full clamped flexible plate system to evaluate its vibration attenuation performance. The system's dynamic model considering the collocated placement of the sensor and actuator is derived within the LabVIEW environment. The first five frequencies of vibration mode were obtained. The result indicated that the AVC-P controller propose possessed the ability to attenuate vibration of the flexible structure.

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“…The asymmetry of the friction forces can be captured by an empirical friction function as given in equation ( 12). This function refers to the stribeck curve as shown in Figure 3 (Nissing, 2000).…”

Section: Piston Frictionmentioning

confidence: 99%

Position control of hydraulic servo system using proportional-integral-derivative controller tuned by some evolutionary techniques

Essa¹,

Aboelela

Hassan

2014

Journal of Vibration and Control

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This paper uses a particle swarm optimization (PSO) algorithm, an adaptive weighted PSO (AWPSO) algorithm, and a genetic algorithm (GA) to determine the optimal proportional-integral-derivative controller's parameters of a hydraulic position control system. A typical hydraulic servo system has been selected as an application. The mathematical model of this hydraulic servo system which comprises the most relevant dynamics and nonlinear effects is considered. The model simulates the behavior of a REXROTH servo valve and includes the nonlinearities of friction forces, valve dynamics, oil compressibility, and load influence. The performance indices, which have been used in the optimization process, are integral absolute error, integral square error and integral time absolute error. The proposed controller is implemented on the simulation model to identify the best method for tuning the controller. Compared with GA and AWPSO results, the PSO method has been found to be more efficient and robust in improving the step response of a position control for hydraulic systems in terms of settling time, maximum overshoot and undershoot.

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A vibration damped flexible robot: identification and parameter optimization

Cited by 7 publications

References 5 publications

Research on rigid–flexible coupling dynamic characteristics of boom system in concrete pump truck

Research on rigid–flexible coupling dynamic characteristics of boom system in concrete pump truck

Experimental evaluation of Active Vibration Control of a flexible plate using proportional gain controller

Position control of hydraulic servo system using proportional-integral-derivative controller tuned by some evolutionary techniques

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