Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator

被引：28

作者：

Shitole, Chandrashekhar ^{[1
]}

Sumathi, P. ^{[1
]}

机构：

[1] Indian Inst Technol, Dept Elect Engn, Roorkee 247667, Uttar Pradesh, India

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2015年 / 20卷 / 06期

关键词：

Phase-locked loop (PLL); single-link flexible manipulator (SLFM); sliding discrete Fourier transform; vibration mode estimation; FREQUENCY ESTIMATOR; RESONANT CONTROL; TRACKING; DESIGN;

D O I：

10.1109/TMECH.2015.2391132

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An estimation method based on sliding discrete Fourier transform (SDFT) integrated with phase-locked loop is introduced for vibration mode estimation of single-link flexible manipulator (SLFM). Based on Euler-Lagrangian state space model and first vibration mode frequency, SDFT PLL is designed to estimate first vibration mode and harmonics that appear in tip deflection. Instantaneous change in tip deflection due to payload conditions is tracked by adaptive sampling frequency control. State-space model, estimated amplitudes and frequencies of tip deflection including harmonics are validated through experiments. Furthermore, experimental investigation on SLFM demonstrates the effectiveness of online vibration mode estimation method in presence of noise and offset.

引用

页码：3249 / 3256

页数：8

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