Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints
A high performance manipulator servo drive system is a double flexible system with flexible joints and flexible loads. Flexible joints are composed of elastic connecting elements, and flexible loads are flexible Euler beams with elastic deformation. The dual flexible system has highly nonlinear time...
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| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/169742 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | A high performance manipulator servo drive system is a double flexible system with flexible joints and flexible loads. Flexible joints are composed of elastic connecting elements, and flexible loads are flexible Euler beams with elastic deformation. The dual flexible system has highly nonlinear time-varying characteristics. This kind of characteristic will cause resonance of the double-flexible system and affect the dynamic characteristics of the system. In order to suppress the system resonance, the nonlinear dynamics model of the system with two flexible bodies is established. Then, the servo control method of double flexible body system is designed, and the range of PI controller parameters is determined by the same resistance pole assignment method. Then, a fuzzy control rule is designed to dynamically adjust PI controller parameters based on pole assignment. Finally, the improved fuzzy PI control strategy is simulated numerically. The simulation results show that the vibration of the double-flexible system can be effectively suppressed by establishing the precise dynamic model and designing PI controller parameters. |
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