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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sg-ntu-dr.10356-1697422023-08-04T15:40:08Z Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints Liu, Xiangchen Wang, Minghai Wang, Yihan School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Double Flexible Body System Nonlinear Feature 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. Published version 2023-08-01T08:01:13Z 2023-08-01T08:01:13Z 2023 Journal Article Liu, X., Wang, M. & Wang, Y. (2023). Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints. Mathematics, 11(4), 885-. https://dx.doi.org/10.3390/math11040885 2227-7390 https://hdl.handle.net/10356/169742 10.3390/math11040885 2-s2.0-85148996375 4 11 885 en Mathematics © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). application/pdf |
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Engineering::Electrical and electronic engineering Double Flexible Body System Nonlinear Feature Liu, Xiangchen Wang, Minghai Wang, Yihan Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints |
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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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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Liu, Xiangchen Wang, Minghai Wang, Yihan |
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Article |
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Liu, Xiangchen Wang, Minghai Wang, Yihan |
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Liu, Xiangchen |
title |
Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints |
title_short |
Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints |
title_full |
Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints |
title_fullStr |
Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints |
title_full_unstemmed |
Improved vibration suppression strategy of fuzzy PI servo control for dual flexible system with flexible joints |
title_sort |
improved vibration suppression strategy of fuzzy pi servo control for dual flexible system with flexible joints |
publishDate |
2023 |
url |
https://hdl.handle.net/10356/169742 |
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1773551269955239936 |