Vibration control for flexible arm by feedback error learning

S. Yamazaki, Kenji Sugimoto
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引用次数: 2

Abstract

This paper proposes a vibration control technique using Feedback Error Learning (FEL). In this technique, a feedforward controller is tuned automatically to improve tracking performance while the unknown plant is stabilized by a simple feedback controller. This approach has been theoretically developed for MIMO plant, and verified its effectiveness in terms of numerical simulation. However, few works have treated an actual experiment so far. Viewing this point, we apply FEL to one-link flexible arm based on the concept of mode expansion. Experiment for rotation angle control is carried out to verify its effectiveness to the actual plant.
基于反馈误差学习的柔性臂振动控制
提出了一种基于反馈误差学习(FEL)的振动控制技术。在这种技术中,一个前馈控制器被自动调谐以提高跟踪性能,而未知对象被一个简单的反馈控制器稳定。该方法已在理论上应用于MIMO对象,并通过数值仿真验证了其有效性。然而,到目前为止,很少有研究涉及实际的实验。有鉴于此,我们基于模态展开的概念,将自由电子效应应用于单连杆柔性臂。为验证旋转角度控制在实际工厂中的有效性,进行了旋转角度控制实验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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