Control of Flexible Manipulator Using Virtual Passive Control
| Autor: | Cheng- Une Huang, 黃俊淵 |
|---|---|
| Rok vydání: | 2002 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 90 A control algorithm, called virtual passive element controller, is applied to position control of a flexible manipulator composed of a base, a tip and a connecting spring. Firstly, we investigate the PD control algorithm that can be viewed as adding a spring and a damper to the system. From the energy viewpoint, the closed-loop system is ensured to be stable since it can be visualized as a new plant composed of virtual passive elements involving springs, dampers, and masses. We then apply numerical analysis and find that the bandwidth is closely related to the inertia ratio of base to tip. Since it is impractical to change the tip or base inertia physically, we show that the inertia ratio can be virtually adjusted via tip displacement feedback. We also develop a simple formula for the optimum gain of tip feedback. In addition to numerical simulation, we also construct an experimental device to test the performance of the proposed algorithm in real time. We first confirm that base-to-tip inertia ratio does affect the performance of PD control by physically adjusting the base inertia. We then test the performance of PD control with various effective inertia ratios and find that transient performance can be strikingly raised if the effective ratio is less than one. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|