Dynamic Modeling and Vibration Control of a Space Flexible Manipulator Using Piezoelectric Actuators and Sensors

Jun Qiang Lou; Yan Ding Wei

doi:10.4028/www.scientific.net/AMR.345.46

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 345Dynamic Modeling and Vibration Control of a Space...

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.

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Periodical:

Advanced Materials Research (Volume 345)

Pages:

46-52

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.345.46

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Online since:

September 2011

Authors:

Jun Qiang Lou, Yan Ding Wei

Keywords:

Finite Element Method (FEM), Flexible Manipulator, LQR Controller, PZT Actuator and Sensor

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References

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