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Alternative TitleAdaptive Fuzzy Vibration Control for Flexible Manipulator Based on Pneumatic Driving
王斌; 邱志成; 张宪民; 韩建达
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20132816484040
Contribution Rank1
Funding Organization国家自然科学基金(51175181,90505014);中央高校基本科研业务费专项基金(2012ZZ0060);机器人学国家重点实验室基金资助项目
Keyword气动驱动 压电柔性机械臂 自适应模糊控制 主动振动控制
Other AbstractFor simultaneous positioning and vibration suppression of a flexible manipulator system driven by a rodless cylinder and piezoelectric patches actuator, three control algorithms are adopted for experiments, including fuzzy control, variable universe adaptive fuzzy control and indirect adaptive fuzzy control. The system composition is introduced, as well as the pneumatic circuit and control circuit of the system. The system model is given. Three control algorithms are analyzed. Variable universe adaptive fuzzy control algorithm improves the performance of traditional fuzzy controller by adjusting the universes of input and output variables on line, and the adaptive law of output universes is developed. An indirect adaptive fuzzy controller with adjustable parameters is constructed to approximate the ideal controller, and then the parameter adaptive law of the fuzzy controller is deduced. Considering the cylinder’s long stroke, gas compression and nonlinear pneumatic system factors, the hysteresis of control effect and the vibration of the flexible manipulator’s high frequency modes will be caused. Band-stop filter, low pass filtering and time delay compensation algorithm are introduced into the control algorithm. Experiments on simultaneous positioning and vibration suppression of flexible manipulator are conducted. The experimental results demonstrate that the adopted three control algorithms can accomplish positioning and vibration suppress of the flexible manipulator simultaneously. The performances of the adaptive fuzzy control algorithms are better than the traditional fuzzy control algorithm.
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Document Type期刊论文
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GB/T 7714
王斌,邱志成,张宪民,等. 气动驱动柔性臂自适应模糊振动控制[J]. 机械工程学报,2013,49(11):50-60.
APA 王斌,邱志成,张宪民,&韩建达.(2013).气动驱动柔性臂自适应模糊振动控制.机械工程学报,49(11),50-60.
MLA 王斌,et al."气动驱动柔性臂自适应模糊振动控制".机械工程学报 49.11(2013):50-60.
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