Research on Active Control of Rotating Motion and Vibration of Flexible Manipulator

Autor:	Qingpeng Han, Wenwen Dong, Bin Wu, Xinhang Shen, Meilin Zhang, Binxia Yuan, Jianben Liu, Rui Zhu, Daolei Wang
Jazyk:	angličtina
Rok vydání:	2021
Předmět:	Physics QC1-999
Zdroj:	Shock and Vibration, Vol 2021 (2021)
Druh dokumentu:	article
ISSN:	1875-9203
DOI:	10.1155/2021/6661910
Popis:	In this study, PZT (piezoelectric) actuators and PD control (PDs’ command line tool) method is selected to control the vibration of the flexible manipulator. The dynamic equations of the flexible manipulator system are established based on Lagrange principle. The control strategy of PZT actuators and joint control torque are designed. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages applies to segmented PZT actuators. By comparison, only PD feedback control is also considered to control the flexible manipulator. The numerical simulations prove that the method of the designed PZT actuators’ control strategy and PD control is effective to compress the vibration of the flexible manipulator.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/752439c4691247a2b35b2f2b810b328d Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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