Active Vibration Control and Coupled Vibration Analysis of a Parallel Manipulator with Multiple Flexible Links

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Jin, Jiamei

doi:10.1155/2016/7474085

Cited by 4 publications

(4 citation statements)

References 24 publications

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“…An optimal control strategy for vibration suppression of a plate by distributed piezoelectric actuators was proposed to obtain the optimal trajectory (Abualrub et al, 2018). An independent modal space control combined with an input shaper was developed to suppress both the structural and residual vibration of three flexible links (Zhang et al, 2016). Vibration control was achieved by employing a modified multi-input multi-output hybrid filtered-x least mean square (FXLMS) control algorithm with online identification and reference signal self-extraction using distributed piezoelectric patches (Gao et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Adaptive modal vibration control for smart flexible beam with two piezoelectric actuators by multivariable self-tuning control

Zhang

2020

Journal of Vibration and Control

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It has been popular for decades that the vibrations of space structures are suppressed with smart actuators. However, the higher mode vibrations are often motivated when a control strategy is applied to attenuate the vibration for the smart structures. Moreover, if the multi-mode vibration of a smart structure is suppressed with multi-actuators, a proper multivariable control law will be adopted to solve the coupling problem caused by the multi-actuators of the smart structure. Therefore, in the paper, a decoupling technique for two modal vibrations of a smart flexible beam with two piezoelectric patches is adopted by adaptive control. The proposed control law is designed with a multivariable minimum variance self-tuning control. Considering the first two orders of modal vibrations, two piezoelectric patches are configured on the flexible beam according to the strain of the first two orders of modal vibrations along the longitudinal direction of the beam. A dynamical model for the flexible beam with two piezoelectric actuators is constructed by the mode superposition method. With the dynamical model, simulations are implemented to suppress the free vibration of the flexible beam. Moreover, experiments are carried out to verify the effectiveness of the multivariable minimum variance self-tuning control for vibration suppression of the flexible structure. The control results clearly show that the free vibration amplitude of the cantilevered beam with two control voltages applied to the two piezoelectric patches is less than that with one control voltage applied to the first piezoelectric actuator. Thus, multivariable minimum variance self-tuning control is a more efficient approach for suppressing multimodal vibration for a smart flexible beam with two piezoelectric actuators compared with the conventional velocity feedback control.

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Section: Introductionmentioning

confidence: 99%

Adaptive modal vibration control for smart flexible beam with two piezoelectric actuators by multivariable self-tuning control

Zhang

2020

Journal of Vibration and Control

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“…Therefore, the residual vibration after the motion stops will make the settling time longer and positioning accuracy lower. Moreover, vibration will impact on system stability (Zhang et al 2016).…”

Section: Introductionmentioning

confidence: 99%

Elastodynamics of a parallel Schönflies-motion generator

Yin

Belzile

Ángeles

et al. 2020

Trans. Can. Soc. Mech. Eng.

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The authors propose a model of the elastodynamics of the Peppermill Carrier (PMC), a parallel isostatic Schönflies-motion generator designed for pick-and-place operations. The Cartesian spring and the finite element method are used to build the elastodynamics model of the robot. The stiffness and mass matrices are introduced to obtain the natural frequencies of the robot along a test trajectory---the Adept test cycle---that serves to evaluate the performance of the robot with respect to the operation speed.

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“…Malas and Chatterjee (2015) pointed out that many machines and processes utilized artificially generated self-excited vibration, such as vibratory machines, rotary drilling, atomic force microscopy (AFM). Zhang et al. (2016) adopted modal control and input shaper to suppress both the structural and residual vibration of a 3-PRR parallel manipulator, by using PZT (lead zirconate titanate) patch sensors and actuators bonded on the flexible links.…”

Section: Introductionmentioning

confidence: 99%

Self-excited Vibration Control of the Flexible Planar Parallel 3-RRR Robot

Qiu

Yang

Zhang

2018

Journal of Vibration and Control

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A self-excited vibration active control approach for a 3-RRR flexible planar parallel robot is developed to improve accuracy and stability. The 3-RRR parallel flexible robot experimental setup is constructed. From the motion experiments, it is demonstrated that the residual vibration can be converted to self-excited vibration at a high-speed motion, which will affect the stability and positioning precision of the platform. To suppress the self-excited vibration owing to flexibility, friction, backlash, coupling, and other nonlinear factors, a nonlinear controller and a fuzzy control algorithm are designed to attenuate the self-excited vibration. Experiments are conducted in different positions of the 3-RRR flexible parallel robot. The experimental results demonstrate that the investigated control methods can suppress the self-excited vibration effectively.

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Active Vibration Control and Coupled Vibration Analysis of a Parallel Manipulator with Multiple Flexible Links

Cited by 4 publications

References 24 publications

Adaptive modal vibration control for smart flexible beam with two piezoelectric actuators by multivariable self-tuning control

Adaptive modal vibration control for smart flexible beam with two piezoelectric actuators by multivariable self-tuning control

Elastodynamics of a parallel Schönflies-motion generator

Self-excited Vibration Control of the Flexible Planar Parallel 3-RRR Robot

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