Dynamic modeling and vibration suppression of flexible macro-micro manipulator system

Here, aiming at the micro-nano vibration problem of flexible micro manipulator during high-speed and large-scale macro motion, a system dynamic model was established and an improved discrete sliding mode control strategy was designed to suppress micro elastic vibration. Firstly, taking a macro-micro manipulator system composed of an air-floating macro motion platform and a piezoelectric fiber micro manipulator as the object, combining the assumed modal method, Lagrange equation and asymmetric hysteresis model, the comprehensive electromechanical dynamic model of the system was established. Then, based on the established model, a variable speed approaching law was designed to adjust switching gain, and realize nonlinear discrete sliding mode control. Finally, a macro-micro manipulator system measuring-control platform was built to do trajectory tracking and vibration suppression experiments. It was shown that during trajectory tracking, for sinusoidal reference trajectories with different frequencies, the designed control strategy can accurately track the given signal with smaller errors; during vibration suppression, when the macro motion platform moves along trapezoid and S-trajectory, residual vibration stabilization times of micro manipulator decease by 26. 1% and 50.0%, respectively compared to before improvement, they decease by 53. 6% and 53. 3%, respectively compared to without control; the effectiveness of the proposed dynamic model and discrete sliding mode control is verified, and the system control accuracy and efficiency are improved. © 2024 Chinese Vibration Engineering Society. All rights reserved.