Title :
Active Vibration Control of a High-Speed Flexible Robot Using Variable Structure Control
Author :
Hu, Junfeng ; Li, Pei ; Cui, Xiangfu
Author_Institution :
Sch. of Mech. & Electr. Eng., Jiangxi Univ. of Sci. & Technol., Ganzhou, China
Abstract :
An active vibration control approach of high-speed flexible robot with piezoelectric patch and strain gauges is presented by using discrete variable structure control with equivalent law. The experimental modal test method and modal truncation technique is applied to obtain the dynamic model of the system. The error state equations are obtained according to state equation and control requirements. The discrete variable control method with disturbance observer is applied to design the active vibration controller. The discrete Kalman filtering technique is employed to construct state estimator because the state variables cannot be directly measured. The first two natural frequencies and damping ratio are obtained by using experimental modal testing. Using dSPACE real-time simulation system and MATLAB/Simulink, the control system is built and the experimental vibration control is performed. The experimental results showed that the proposed controller can effectively reduce the vibration response of the flexible robot rapidly.
Keywords :
Kalman filters; discrete systems; observers; robots; variable structure systems; vibration control; Active Vibration Control; MATLAB/Simulink; dSPACE real-time simulation system; damping ratio; discrete Kalman filtering technique; discrete variable structure control; disturbance observer; error state equations; experimental modal test method; high-speed flexible robot; modal truncation technique; natural frequencies; piezoelectric patch; strain gauges; Mathematical model; Robots; Sensors; Strain; Vibration control; Vibrations; Voltage control; active vibration control; discrete-time variable structure control; flexible robot; high-speed;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2012 Fifth International Conference on
Conference_Location :
Zhangjiajie, Hunan
Print_ISBN :
978-1-4673-0470-2
DOI :
10.1109/ICICTA.2012.21