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Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder
Qiu ZC(邱志成); Wang B(王斌); Zhang XM(张宪民); Han JD(韩建达)
作者部门机器人学研究室
关键词Algorithms Closed Loop Systems Cylinders (Shapes) Delay Control Systems Flexible Manipulators Mimo Systems Piezoelectric Actuators Piezoelectricity Pneumatic Control Equipment Pneumatic Drives Pulse Code Modulation
发表期刊Mechanical Systems and Signal Processing
ISSN0888-3270
2013
卷号36期号:2页码:290-316
收录类别SCI ; EI
EI收录号20131316149208
WOS记录号WOS:000319302100005
产权排序1
摘要This study presents a novel translating piezoelectric flexible manipulator driven by a rodless cylinder. Simultaneous positioning control and vibration suppression of the flexible manipulator is accomplished by using a hybrid driving scheme composed of the pneumatic cylinder and a piezoelectric actuator. Pulse code modulation (PCM) method is utilized for the cylinder. First, the system dynamics model is derived, and its standard multiple input multiple output (MIMO) state-space representation is provided. Second, a composite proportional derivative (PD) control algorithms and a direct adaptive fuzzy control method are designed for the MIMO system. Also, a time delay compensation algorithm, bandstop and low-pass filters are utilized, under consideration of the control hysteresis and the caused high-frequency modal vibration due to the long stroke of the cylinder, gas compression and nonlinear factors of the pneumatic system. The convergence of the closed loop system is analyzed. Finally, experimental apparatus is constructed and experiments are conducted. The effectiveness of the designed controllers and the hybrid driving scheme is verified through simulation and experimental comparison studies. The numerical simulation and experimental results demonstrate that the proposed system scheme of employing the pneumatic drive and piezoelectric actuator can suppress the vibration and achieve the desired positioning location simultaneously. Furthermore, the adopted adaptive fuzzy control algorithms can significantly enhance the control performance.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Mechanical
关键词[WOS]SERVO SYSTEMS ; POSITION CONTROL ; ACTUATOR ; DESIGN
WOS研究方向Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10627
专题机器人学研究室
通讯作者Qiu ZC(邱志成)
作者单位1.School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Qiu ZC,Wang B,Zhang XM,et al. Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder[J]. Mechanical Systems and Signal Processing,2013,36(2):290-316.
APA Qiu ZC,Wang B,Zhang XM,&Han JD.(2013).Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder.Mechanical Systems and Signal Processing,36(2),290-316.
MLA Qiu ZC,et al."Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder".Mechanical Systems and Signal Processing 36.2(2013):290-316.
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