Analysis of an actively controlled composite box manipulator without external actuator

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-10-04 DOI:10.1177/09596518231196506

Şefika İ Lök, Levent Malgaca, Mehmet Uyar

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引用次数: 0

Abstract

This study focuses on active vibration control for a single-link composite box manipulator by using a single actuator for driving and control actions. Model extraction and system identification techniques are studied to obtain mathematical models of the manipulator. The state space model is extracted from the finite element model using modal analysis conducted in ANSYS, while the system identification approach is an experimental modeling method using the input and output signals of the system. The input signals are defined as triangular and trapezoidal motion profiles, while the output signals are the acceleration signals of the manipulator. Proportional derivative and positive position feedback controllers are implemented on the obtained mathematical models to reduce residual vibrations. The simulation results are successfully verified by experiments, and uncontrolled/controlled results are evaluated with reduction rates.

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无外部作动器的主动控制复合箱式机械臂分析

研究了单连杆复合箱式机械臂的振动主动控制问题，采用单作动器驱动和控制。研究了模型提取和系统识别技术，得到了机械臂的数学模型。状态空间模型是利用ANSYS中的模态分析从有限元模型中提取出来的，而系统辨识方法是利用系统的输入输出信号进行实验建模的方法。输入信号定义为三角形和梯形运动轮廓，输出信号定义为机械手的加速度信号。在得到的数学模型上实现了比例导数和正位置反馈控制器，以减小残余振动。通过实验验证了仿真结果的正确性，并对非受控和受控结果进行了降噪率评价。

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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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.