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| Experimental Identification and Vibration Suppression of a Piezoelectric Flexible Manipulator Using Optimal Poles Assignment Method |
| Lou Junqiang1, Liao Jiangjiang1, Li Guoping1, Yang Yiling2, Wei Yanding2 |
1. Zhejiang Provincial Key Lab of Part Rolling Technology, College of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China;
2. China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China |
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Abstract Experimental identification and active vibration suppression of a piezoelectric flexible manipulator system using poles assignment control are presented in this paper. A transfer function model with relocated zeros is developed for the flexible manipulator bonded with strain sensors and piezoelectric actuator. The mathematical model between the input voltage of the piezoelectric actuator and the output voltage of the strain sensors is established through sweep excitation, the fitness can achieve up to 94.8%. Furthermore, the close coincidence between the identified model and the experimental system is verified through a multi-frequency signal excitation. Then, state equations of the flexible manipulator system are derived. A poles assignment method with the characteristics of the shortest displacement distance and desired close-loop damping ratio is proposed. The effectiveness of the proposed control method is validated by simulation and experiments with different locations of closed-loop poles. Experimental results show that elastic vibrations of the link caused by the sweep and external disturbance excitation are effectively suppressed using the poles assignment controller. Consequently, the proposed method of experimental identification and poles assignment control is feasible and effective.
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Received: 26 April 2016
Published: 15 August 2017
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