Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB

Shang, Dongyang; Li, Xiaopeng; Yin, Meng; Li, Fanjie

doi:10.1016/j.aej.2021.10.026

Cited by 16 publications

(11 citation statements)

References 27 publications

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“…In this paper, the variable parameters PI control strategy based on the DOB and other control strategies are applied to control the motor output speed in the dual flexible servo drive system, respectively. The other two control methods are the pole placement method, which is proposed by the literature [20] and the traditional PI control strategy, which is proposed by the literature [21]. The output results of the system under Condition 1 are shown in Figure 10.…”

Section: Methodsmentioning

confidence: 99%

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Speed control strategy of dual flexible servo system considering time‐varying parameters for flexible manipulator with an axially translating arm

Shang

Yin

et al. 2022

Asian Journal of Control

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Many factors lead to fluctuations of output speed in the motor side during the movement processes in a flexible manipulator with an axially translating arm. These factors include the time‐varying characteristics of manipulator parameters, external disturbance, and flexibility in the manipulator. The vibration of flexible manipulators is strengthened by fluctuations of output speed, which seriously affects the motion accuracy. Therefore, a variable parameters proportional–integral (PI) control strategy based on disturbance observer is adopted to reduce fluctuations of output speed in a dual flexible servo system. First, the dynamic model of the dual flexible servo system is established by the assumed mode method. Then, the variable parameters PI control strategy is applied to the servo system, and the controller parameters in different conditions are selected by pole placement strategies. Finally, numerical simulations and control experiments of the servo system are carried out. The results show that the control strategy using the variable parameters and disturbance observer could reduce fluctuations of output speed and improve the motion accuracy of flexible manipulators.

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Section: Methodsmentioning

confidence: 99%

“…According to the literature [21], the transmission system damping effect can be ignored because the damping coefficient is too small. The dynamic model of the single flexible joint servo system is shown in Equation (2).…”

Section: Dynamic Model Of a Single Flexible Jointmentioning

confidence: 99%

Speed control strategy of dual flexible servo system considering time‐varying parameters for flexible manipulator with an axially translating arm

Shang

Yin

et al. 2022

Asian Journal of Control

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“…Compared to the traditional rigid manipulator, The Variable Length Flexible Manipulator (VLFM) has a greater range of motion and a lower mass [1].Because of its lightweight, the VLFM can be used in the International Space Station as a space manipulator [2]. Similarly, in the field of industrial assembly, the VLFM can be used to realize cargo palletizing [4].…”

Section: Introductionmentioning

confidence: 99%

Rotation Angle Vibration Suppression for Variable Length flexible Manipulator Based on Neural Network Identification With Sliding Mode Controller

Li,

Wei,

Yin

et al. 2024

Preprint

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The variable-length flexible manipulator has an impact on the flexibility of joints and the flexibility load, in which vibration at the angle of rotation will occur. To suppress the vibration, a control law combining neural network identification, sliding mode control and angle-independent method is presented. To begin with, the variable-length flexible manipulator dynamic equations are established considering friction torque and two-dimensional deformation. Then, An adaptive law for the neural network weight coefficients is devised using the Lyapunov stability theorem .At last, the simulated analysis and controlled experiments are performed. The experimental finding demonstrates this: The control accuracy of rotation angle can be improved by using neural network compensation for the uncertain part. The flexible load vibration can be suppressed by the angle-independent method. The mean absolute error of rotation angle can be decrease by 15.85% using the combination control strategy. This proves that the control strategy presented can effectually.

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“…DOBC offers a feasible method for reducing the negative influence from external disturbance and internal uncertainty by utilizing the estimated disturbance from the DOB and feed it forward to the control signal of an electromechanical system (Choi et al 2003;Chen et al 2016). DOBC has been applied to many real-world systems, e.g., permanent magnet synchronous motors (PMSM) (Dai et al 2021), missile seekers (Sadhu & Ghoshal 2011), unmanned aerial vehicles (UAV) (Huang & Chen 2022;Tripathi et al 2022), overhead cranes (Wu et al 2020), ship-mounted tower cranes (Qian & Fang 2019), cars with an active suspension system (Pan et al 2016), and dualflexible manipulators with a telescopic arm (Shang et al 2022). For generating a compensation control signal based on the estimated disturbance, most research on designing DOBC (Sadhu & Ghoshal 2011;Pan et al 2016;Qian & Fang 2019;Wu et al 2020;Huang & Chen 2022;Shang et al 2022;Tripathi et al 2022) simply assume that the control signal (i.e., the output of the controller instead of the actuator) and the disturbance signal are of the same type (e.g., both are torques or both are forces).…”

Section: Introductionmentioning

confidence: 99%

“…DOBC has been applied to many real-world systems, e.g., permanent magnet synchronous motors (PMSM) (Dai et al 2021), missile seekers (Sadhu & Ghoshal 2011), unmanned aerial vehicles (UAV) (Huang & Chen 2022;Tripathi et al 2022), overhead cranes (Wu et al 2020), ship-mounted tower cranes (Qian & Fang 2019), cars with an active suspension system (Pan et al 2016), and dualflexible manipulators with a telescopic arm (Shang et al 2022). For generating a compensation control signal based on the estimated disturbance, most research on designing DOBC (Sadhu & Ghoshal 2011;Pan et al 2016;Qian & Fang 2019;Wu et al 2020;Huang & Chen 2022;Shang et al 2022;Tripathi et al 2022) simply assume that the control signal (i.e., the output of the controller instead of the actuator) and the disturbance signal are of the same type (e.g., both are torques or both are forces). Based on this assumption, the estimated disturbance signal (i.e., the output of the DOB) is directly utilized as a compensation control signal (by taking it negative value) and is simply combined with feedback control signal.…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-based Pointing Control of Leighton Chajnantor Telescope

Chen,

Wang

2023

Res. Astron. Astrophys.

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Leighton Chajnantor Telescope (LCT), i.e., the former Caltech Submillimeter Observatory (CSO) telescope, will be refurbished at the new site in Chajnantor Plateau, Chile, in 2023. The environment of LCT will change significantly after its relocation, and the telescope will be exposed to large wind disturbance directly because its enclosure will be completely open during observation. The wind disturbance is expected to be a challenge for LCT’s pointing control since existing control method cannot reject this disturbance very well. Therefore, it is very necessary to develop a new pointing control method with good capability of disturbance rejection. In this research, a disturbance observer - based composite position controller (DOB-CPC) is designed, in which an H∞ feedback controller is employed to compress the disturbance, and a feedforward linear quadratic regulator is employed to compensate the disturbance precisely based on the estimated disturbance signal. Moreover, a controller switching policy (CSP) is adopted, which applies the proportional controller to the transient process to achieve a quick response and applies the DOB-CPC to the steady state to achieve a small position error. Numerical experiments are conducted to verify the good performance of the proposed pointing controller (i.e., DOB-CPC) for rejecting the disturbance acting on LCT.

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Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB

Cited by 16 publications

References 27 publications

Speed control strategy of dual flexible servo system considering time‐varying parameters for flexible manipulator with an axially translating arm

Speed control strategy of dual flexible servo system considering time‐varying parameters for flexible manipulator with an axially translating arm

Rotation Angle Vibration Suppression for Variable Length flexible Manipulator Based on Neural Network Identification With Sliding Mode Controller

Disturbance Observer-based Pointing Control of Leighton Chajnantor Telescope

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