Positioning Control and Elastic Vibration Suppressing of an Ammunition Transfer Manipulator with Transmission Flexibility and Payload Uncertainty

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Journal of Vibration and Shock ›› 2015, Vol. 34 ›› Issue (22) : 1-8.

Guo Yufei Hou Baolin

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Abstract

This paper deals with positioning control and elastic vibration suppressing problems of a novel 2-DOF ammunition transfer manipulators with joint chain flexibility and payload uncertainty. Regarding the joint and chain’s elasticity as non-inertial spring, the dynamic model of the manipulator was obtained via Lagrange method. Based on the singular perturbation method, the model was decomposed into two part, a fast subsystem and a slow subsystem. For the fast subsystem, a velocity difference feedback controller was proposed to suppress the vibration of the flexibility. For the slow subsystem, a PD controller with continuous time-varying gains was designed based on a given implicit Lyapunov function. The controller's gains, which are the continuous-differential function of the state, increase and tend to infinity as the system approaching the original state, but the control force always satisfies the given constrain. Simulation results demonstrate that the controller greatly compensates the effects of transmission flexibility and payload uncertainty, fulfills the accurate point to point control of the ammunition transfer manipulator, and has good robustness.

Key words

ammunition transfer manipulator / transmission flexibility / payload uncertainty / positioning control / vibration suppressing

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Guo Yufei Hou Baolin. Positioning Control and Elastic Vibration Suppressing of an Ammunition Transfer Manipulator with Transmission Flexibility and Payload Uncertainty[J]. Journal of Vibration and Shock, 2015, 34(22): 1-8

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