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题名: Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models
作者: 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
刊名: MECHANICAL SYSTEMS AND SIGNAL PROCESSING
ISSN号: 0888-3270
出版日期: 2016
卷号: 70-71, 页码:345-372
收录类别: SCI ; EI
产权排序: 2
项目资助者: 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记录号: WOS:000366765500021
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Mechanical
关键词[WOS]: POSITION FEEDBACK ; SYSTEMS ; DESIGN
研究领域[WOS]: Engineering
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17613
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
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.
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