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| Dynamic modeling and vibration suppression of flexible macro-micro manipulator system |
| WENG Yinxiang1, YANG Yiling1, WU Gaohua1, CUI Yuguo1, WEI Yanding2 |
| 1. Part Rolling Key Laboratory of Zhejiang Province, Ningbo University, Ningbo 315211, China;
2. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, Zhejiang University, Hangzhou 310027, China |
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Abstract Regarding the problem of micro-nano vibration of the flexible micromanipulator during high-speed and large-range macro motion, a system dynamics model is established, and an improved discrete sliding mode control strategy is designed to suppress micro-elastic vibration. Firstly, a comprehensive mechatronic dynamics model is established by combining the assumed modal method, Lagrange equation, and asymmetric hysteresis model for the macro-micro manipulation system composed of an air-floating macro-motion platform and a piezoelectric fiber micromanipulator. After that, a discrete sliding mode control strategy with nonlinear adaptive characteristics is implemented by regulating the switching gain with a variable-speed convergence law based on the proposed model. Finally, a measurement and control platform for the macro-micro manipulation system is built, and the trajectory tracking and vibration suppression experiments are conducted. In trajectory tracking, the designed control strategy can accurately track the given signal with minor errors for different frequencies of sinusoidal reference trajectories. During vibration suppression, the residual vibration stabilization time of the micromanipulator was reduced by 26.1% and 50.0% compared to the pre-improvement period when the macro-actuated platform was moving along the trapezoidal versus the S-trajectory and 53.6% and 53.3% compared to the no-control period, respectively. The effectiveness of the dynamics model and discrete sliding mode control is verified, and the control accuracy and efficiency of the system are improved.
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Received: 04 July 2023
Published: 15 May 2024
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