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题名:
Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder
作者: Qiu ZC(邱志成); Wang B(王斌); Zhang XM(张宪民); Han JD(韩建达)
作者部门: 机器人学研究室
通讯作者: 邱志成
关键词: Algorithms ; Closed loop systems ; Cylinders (shapes) ; Delay control systems ; Flexible manipulators ; MIMO systems ; Piezoelectric actuators ; Piezoelectricity ; Pneumatic control equipment ; Pneumatic drives ; Pulse code modulation
刊名: Mechanical Systems and Signal Processing
ISSN号: 0888-3270
出版日期: 2013
卷号: 36, 期号:2, 页码:290-316
收录类别: SCI ; EI
产权排序: 1
摘要: This study presents a novel translating piezoelectric flexible manipulator driven by a rodless cylinder. Simultaneous positioning control and vibration suppression of the flexible manipulator is accomplished by using a hybrid driving scheme composed of the pneumatic cylinder and a piezoelectric actuator. Pulse code modulation (PCM) method is utilized for the cylinder. First, the system dynamics model is derived, and its standard multiple input multiple output (MIMO) state-space representation is provided. Second, a composite proportional derivative (PD) control algorithms and a direct adaptive fuzzy control method are designed for the MIMO system. Also, a time delay compensation algorithm, bandstop and low-pass filters are utilized, under consideration of the control hysteresis and the caused high-frequency modal vibration due to the long stroke of the cylinder, gas compression and nonlinear factors of the pneumatic system. The convergence of the closed loop system is analyzed. Finally, experimental apparatus is constructed and experiments are conducted. The effectiveness of the designed controllers and the hybrid driving scheme is verified through simulation and experimental comparison studies. The numerical simulation and experimental results demonstrate that the proposed system scheme of employing the pneumatic drive and piezoelectric actuator can suppress the vibration and achieve the desired positioning location simultaneously. Furthermore, the adopted adaptive fuzzy control algorithms can significantly enhance the control performance.
语种: 英语
EI收录号: 20131316149208
WOS记录号: WOS:000319302100005
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Mechanical
关键词[WOS]: SERVO SYSTEMS ; POSITION CONTROL ; ACTUATOR ; 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/173321/10627
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Qiu ZC,Wang B,Zhang XM,et al. Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder[J]. Mechanical Systems and Signal Processing,2013,36(2):290-316.
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