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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)
Department机器人学研究室
Source PublicationMECHANICAL SYSTEMS AND SIGNAL PROCESSING
ISSN0888-3270
2016
Volume70-71Pages:345-372
Indexed BySCI ; EI
EI Accession number20161702289923
WOS IDWOS:000366765500021
Contribution Rank2
Funding OrganizationNational 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]
KeywordPneumatic Drive Piezoelectric Flexible Manipulator Vibration Control Self-organizing Map Variable Damping Pole-placement
AbstractA 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical
WOS KeywordPOSITION FEEDBACK ; SYSTEMS ; DESIGN
WOS Research AreaEngineering
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17613
Collection机器人学研究室
Corresponding AuthorQiu ZC(邱志成)
Affiliation1.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
Recommended Citation
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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