Paper Title:
Dynamic Modeling and Vibration Control of a Space Flexible Manipulator Using Piezoelectric Actuators and Sensors
  Abstract

This paper concerns the dynamic modeling and vibration control of a space two-link flexible manipulator. Two types of PZT actuators, PZT shear actuator and torsional actuator, are used to suppress the bending-torsional-coupled vibration of the space manipulator. Using extended Hamilton’s principle and the finite element method, equations of motion of the space flexible manipulator with PZT actuators and tip mass are obtained. Based on modal analyze theory, the state space model of the system is then used to design the control system. A linear quadratic regulator (LQR) controller is designed to achieve vibration suppression of the space manipulator system. From the numerical results, we can get that the proposed controller has a suitable and efficient performance suppressing the bending-torsional-coupled vibration of the space two-link flexible manipulator.

  Info
Periodical
Chapter
Chapter 1: Smart Materials and Nanotechnology
Edited by
J.L. Zhong
Pages
46-52
DOI
10.4028/www.scientific.net/AMR.345.46
Citation
J. Q. Lou, Y. D. Wei, "Dynamic Modeling and Vibration Control of a Space Flexible Manipulator Using Piezoelectric Actuators and Sensors", Advanced Materials Research, Vol. 345, pp. 46-52, 2012
Online since
September 2011
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Price
$32.00
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