Active vibration control of a flexible link robot with the use of piezoelectric actuators

Abstract

Abstract. Within robot systems the use of flexible links could solve many issues raised by their rigid counterparts. However, when these flexible links are integrated within systems which include moving parts their main issue lies in the vibrations experienced along their length due to disturbances. Much research effort has been made to solve this issue, with particular attention being paid to the application of piezoelectric patches as actuators within active vibration control (AVC). The study will consist of accurate models of a flexible link and two surface bonded piezoelectric patches, where the link and the piezoelectric patches will be modelled through the use of Euler-Bernoulli beam theory (EBT). The link will be subject to an initial displacement at its free end, and the resulting displacement of this end of the beam is to be controlled using a classic proportional-differential (PD) controller. The voltages to be applied across each of the actuators is to be controlled in accordance with the displacement of the free end of the beam, the actuators will then induce a strain upon the link opposing the movement of the tip. This research outlines this general method, obtains the best location of the piezoelectric patches and the control gains to be used, and proves that the method can be used to attenuate the vibrations experienced by a flexible link.

Iterative piezo response function-based optimization for static shape control of cantilever beam using nonlinear piezoactuators

“…These analytical and approximate solutions are used with various sophisticated techniques to design and optimize piezoactuated structures and devices to improve the performance and achieve more accuracy and precision. Structures and devices using piezoactuators are used for various applications such as shape control [8,9], micro/nano position stage [10,11], vibration and noise suppression systems [12,13] etc. Shape control of flexible structures is mainly done to enhance the performance efficiency of structures [9,14].…”

Study of PID controller gain for active vibration control using FEM based particle swarm optimization in COMSOL multiphysics

“…The demand of lightweight flexible structures is increased in the past few years due to their application in various fields like aerospace and robotics. 1, 2 Undesired vibration is one of the prominent factor of instability, low efficiency and failure of macro- and micro-scale systems. 3 Active vibration control is quite popular in engineering research for controlling or eliminating the undesired vibration.…”