Papers by Author: Yan Ding Wei

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.

Abstract: In this paper, a piezoelectric torsional actuator generating angular displacement from piezoelectric shear strain is proposed. The procedure for the design, and manufacture of the piezoelectric torsional actuator are presented. To evaluate the performance of the proposed piezoelectric torsional actuator, the torsional vibration suppression of a flexible manipulator system with the proposed actuator is studied. The experimental results show the piezoelectric torsional actuator is capable of producing large torque and angular displacement and is suited for vibration suppression on flexible torsional manipulator system.