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Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models
Zhao, Zhili; Qiu ZC(邱志成); Zhang XM(张宪民); Han JD(韩建达)
作者部门机器人学研究室
关键词Pneumatic Drive Piezoelectric Flexible Manipulator Vibration Control Self-organizing Map Variable Damping Pole-placement
发表期刊MECHANICAL SYSTEMS AND SIGNAL PROCESSING
ISSN0888-3270
2016
卷号70-71页码:345-372
收录类别SCI ; EI
EI收录号20161702289923
WOS记录号WOS:000366765500021
产权排序2
资助机构National Natural Science Foundation of China [51175181] ; Fundamental Research Funds for the Central Universities, SCUT [2014ZG0019] ; Natural Science Foundation of Guangdong Province [S2013030013355] ; State Key Laboratory of Robotics Foundation [2012-O15]
摘要A kind of hybrid pneumatic-piezoelectric flexible manipulator system has been presented in the paper. A hybrid driving scheme is achieved by combining of a pneumatic proportional valve based pneumatic drive and a piezoelectric actuator bonded to the flexible beam. The system dynamics models are obtained based on system identification approaches, using the established experimental system. For system identification of the flexible piezoelectric manipulator subsystem, parametric estimation methods are utilized. For the pneumatic driven system, a single global linear model is not accurate enough to describe its dynamics, due to the high nonlinearity of the pneumatic driven system. Therefore, a self-organizing map (SOM) based multi-model system identification approach is used to get multiple local linear models. Then, a SOM based multi-model inverse controller and a variable damping pole-placement controller are applied to the pneumatic drive and piezoelectric actuator, respectively. Experiments on pneumatic driven vibration control, piezoelectric vibration control and hybrid vibration control are conducted, utilized proportional and derivative (PD) control, SOM based multi-model inverse controller, and the variable damping pole-placement controller. Experimental results demonstrate that the investigated control algorithms can improve the vibration control performance of the pneumatic driven flexible piezoelectric manipulator system. (C) 2015 Elsevier Ltd. All rights reserved.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Mechanical
关键词[WOS]POSITION FEEDBACK ; SYSTEMS ; DESIGN
WOS研究方向Engineering
引用统计
被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17613
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, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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GB/T 7714
Zhao, Zhili,Qiu ZC,Zhang XM,et al. Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models[J]. MECHANICAL SYSTEMS AND SIGNAL PROCESSING,2016,70-71:345-372.
APA Zhao, Zhili,Qiu ZC,Zhang XM,&Han JD.(2016).Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models.MECHANICAL SYSTEMS AND SIGNAL PROCESSING,70-71,345-372.
MLA Zhao, Zhili,et al."Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models".MECHANICAL SYSTEMS AND SIGNAL PROCESSING 70-71(2016):345-372.
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