Experimental Identification and Vibration Suppression of a Piezoelectric Flexible Manipulator Using Optimal Poles Assignment Method

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Journal of Vibration and Shock ›› 2017, Vol. 36 ›› Issue (16) : 18-25.

Lou Junqiang1, Liao Jiangjiang1, Li Guoping1, Yang Yiling2, Wei Yanding2

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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.

Key words

Piezoelectric Flexible Manipulator / System Identification / Optimal Poles Assignment / Active Vibration Control

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Lou Junqiang1, Liao Jiangjiang1, Li Guoping1, Yang Yiling2, Wei Yanding2. Experimental Identification and Vibration Suppression of a Piezoelectric Flexible Manipulator Using Optimal Poles Assignment Method[J]. Journal of Vibration and Shock, 2017, 36(16): 18-25

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