Control of flexible single-link manipulators having Duffing oscillator dynamics

被引：34
作者：
Chen, Bin [1 ]
Huang, Jie [1 ]
Ji, J. C. [2 ]
机构：
[1] Beijing Inst Technol, Sch Mech Engn, Beijing 100081, Peoples R China
[2] Univ Technol Sydney, Sch Mech & Mechatron Engn, Sydney, NSW 2007, Australia
来源：
MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2019年 / 121卷
基金：
中国国家自然科学基金;
关键词：
Duffing oscillator; Flexible manipulators; Single link; Modal analysis; Vibration control; DER-POL OSCILLATOR; BIFURCATION CONTROL; VIBRATION CONTROL; VAN; SYSTEM; RESONANCES; SHAPERS; DESIGN;
D O I：
10.1016/j.ymssp.2018.11.014
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Unwanted vibrations caused by the commanded motions lower the positioning accuracy and degrade the control performance of flexible link manipulators. Much work has been devoted to the dynamics and control of flexible link manipulators. However, there are few studies dedicated to the flexible link manipulators having Duffing oscillator dynamics. This paper develops a new model for a flexible single-link manipulator by assuming large mechanical impedance in the drives or large inertia of the motor hub and by considering the flexibility of the single-link manipulator. The derived model includes an infinite number of uncoupled Duffing oscillators by ignoring the modal coupling effects. Two new methods are presented for controlling the vibrations of the flexible manipulator governed by Duffing oscillators. One is designed for the single-mode Duffing oscillator, and the other is for the multi-mode Duffing oscillators. A comparison of these two methods is made using the results of numerical simulations and experimental measurements. Experimental investigations are also performed on a flexible single-link manipulator to validate the dynamic behavior of Duffing oscillators and the effectiveness of the new control methods. (C) 2018 Elsevier Ltd. All rights reserved.
引用
收藏
页码：44 / 57
页数：14
相关论文
共 41 条
[1]   Adaptive output-based command shaping for sway control of a 3D overhead crane with payload hoisting and wind disturbance [J].
Abdullahi, Auwalu M. ;
Mohamed, Z. ;
Selamat, H. ;
Pota, Hemanshu R. ;
Abidin, M. S. Zainal ;
Ismail, F. S. ;
Haruna, A. .
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2018, 98 :157-172
[2]   Control of flexible manipulators: A survey [J].
Benosman, A ;
Le Vey, G .
ROBOTICA, 2004, 22 :533-545
[3]  
BOOK WJ, 1984, INT J ROBOT RES, V3, P87, DOI 10.1177/027836498400300305
[4]   DYNAMICS AND CONTROL OF AN ORBITING FLEXIBLE MOBILE MANIPULATOR [J].
CHAN, JK ;
MODI, VJ .
ACTA ASTRONAUTICA, 1990, 21 (11-12) :759-769
[5]   Force control of a single-link flexible arm using sliding-mode theory [J].
Chang, JL ;
Chen, YP .
JOURNAL OF VIBRATION AND CONTROL, 1998, 4 (02) :187-200
[6]   Decreasing infinite-mode vibrations in single-link flexible manipulators by a continuous function [J].
Chen, Bin ;
Huang, Jie .
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2017, 231 (06) :436-446
[7]   Design of command shapers for residual vibration suppression in Duffing nonlinear systems [J].
Chen, Kuo-Shen ;
Yang, Tian-Shiang ;
Ou, Kuang-Shun ;
Yin, Jui-Feng .
MECHATRONICS, 2009, 19 (02) :184-198
[8]   Concurrent Design of Multimode Input Shapers and Link Dynamics for Flexible Manipulators [J].
Diaz, Ivan M. ;
Pereira, Emiliano ;
Feliu, Vicente ;
Cela, Juan J. L. .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2010, 15 (04) :646-651
[9]   Dynamic analysis of flexible manipulators, a literature review [J].
Dwivedy, Santosha Kumar ;
Eberhard, Peter .
MECHANISM AND MACHINE THEORY, 2006, 41 (07) :749-777
[10]   Asymptotic Lyapunov stability with probability one of Duffing oscillator subject to time-delayed feedback control and bounded noise excitation [J].
Feng, Changshui ;
Zhu, Weiqiu .
ACTA MECHANICA, 2009, 208 (1-2) :55-62
12345