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: Liu, Xiangchen, Wang, Minghai, Wang, Yihan
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2023
Subjects:
Online Access:https://hdl.handle.net/10356/169742
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Institution: Nanyang Technological University
Language: English
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spelling 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
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
Double Flexible Body System
Nonlinear Feature
spellingShingle 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
description 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.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Liu, Xiangchen
Wang, Minghai
Wang, Yihan
format Article
author Liu, Xiangchen
Wang, Minghai
Wang, Yihan
author_sort 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
_version_ 1773551269955239936