Vibration Control of a Flexible Manipulator Driven by a Pneumatic Rodless Cylinder
QIU Zhicheng1, WANG Bin1, HANJianda2, WANG Yuechao2
1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China; 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
邱志成, 王斌, 韩建达, 王越超. 无杆气缸驱动的柔性机械臂振动控制[J]. 机器人, 2012, 34(1): 9-16..
QIU Zhicheng, WANG Bin, HANJianda, WANG Yuechao. Vibration Control of a Flexible Manipulator Driven by a Pneumatic Rodless Cylinder. ROBOT, 2012, 34(1): 9-16..
Abstract:A pneumatic rodless cylinder driven flexible manipulator control system is proposed for positioning and vibration suppression of the manipulator,using pulse code modulation(PCM) method.Firstly,the system model of the pneumatic flexible manipulator is derived.Theoretical analysis of the composite positioning and vibration suppression control algorithm is performed.Secondly,because the hysteretic problem of control effect is caused by the following factors,such as long stroke of the cylinder.compressibility of air,nonlinearity of pneumatic driving and time delay of valves' switch,thus, the limit cycle oscillation of high-frequency modes vibration can be easily excited,and the observation and control spillover will be caused.Also,the stability of the control system will be affected.In order to solve this problem,compensation of time delay and low-pass filter methods are introduced into the control algorithm.Finally,experiments on positioning and vibration suppression of the pneumatic flexible manipulator are conducted.The experimental results demonstrate that the composite control method can suppress the low-frequency mode vibration of the flexible manipulator effectively and achieve the purpose of positioning simultaneously.
[1] Dwivedy S K,Eberhard P.Dynamic analysis of flexible manipulators,a literature review[J].Mechanism and Machine Theory,2006,41(7):749-777.
[2] Ge S S,Lee T H,Gong J Q.A robust distributed controller of a single-link SCARA/Cartesian smart materials robot[J].Mechatronics,1999,9(1):65-93.
[3] Dadfarnia M,Jalili N,Liu Z Y,et al.An observer-based piezoelectric control of flexible Cartesian robot arms:Theory and experiment[J].Control Engineering Practice,2004,12(8):1041-1053.
[4] 邱志成,韩建达,王越超.基于复合喷气压电驱动器的柔性机械臂振动控制[J].机械工程学报,2009,45(5):184-192.Qiu Z C,Han J D,Wang Y C.Vibration control for flexible manipulator based on the combing of jet thruster and piezoelectric actuators[J].Chinese Journal of Mechanical Engineering,2009,45(5):184-192.
[5] Kaitwanidvilai S,Olranthichachat P.Robust loop shaping-fuzzy gain scheduling control of a servo-pneumatic system using particle swarm optimization approach[J].Mechatronics,2011,21(1):11-21.
[6] Taghizadeh M,Ghaffari A,Najafi F.Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit[J].ISA Transactions,2009,48(4):512-518.
[7] 王宣银.PCM气动伺服系统的建模研究[J].机床与液压,1997,25(4):20-22.Wang X Y.A study of modelling of the PCM pneumatic servo system[J].Machine Tool & Hydraulics,1997,25(4):20-22.
[8] 宁舒.气动位移系统的计算机"PCM"控制初探[J].液压与气动,1991(1):18-22.Ning S.Preliminary investigation of computer PCM control of pneumatic positioning system[J].Chinese Hydraulics & Pneumatics,1991(1):18-22.
[9] Barth E J,Goldfarb M.A control design method for switching systems with application to pneumatic servo systems[C]//ASME International Mechanical Engineering Congress & Exposition.2002:17-22.
[10] 曲以义.气压伺服系统[M].上海:上海交通大学出版社,1986.Qu Y Y.Pneumatic servo system[M].Shanghai:Shanghai Jiao Tong University Press,1986.
[11] Clark R L,Saunders W R,Gibbs G.Adaptive structures dynamics and control[M].New York,NY,USA:John Wiley & Sons,Inc.,1998.