Preprint Article Version 1 This version is not peer-reviewed

Experimental Identification and Vibration Control of A Non-Collocated Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control

Version 1 : Received: 8 January 2017 / Approved: 9 January 2017 / Online: 9 January 2017 (04:56:13 CET)

How to cite: Lou, J.; Liao, J.; Yang, Y.; Wei, Y.; Li, G. Experimental Identification and Vibration Control of A Non-Collocated Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control. Preprints 2017, 2017010038 (doi: 10.20944/preprints201701.0038.v1). Lou, J.; Liao, J.; Yang, Y.; Wei, Y.; Li, G. Experimental Identification and Vibration Control of A Non-Collocated Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control. Preprints 2017, 2017010038 (doi: 10.20944/preprints201701.0038.v1).

Abstract

This paper presents experimental identification and vibration suppression of a flexible manipulator with non-collocated piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model to compensate the non-collocation. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Besides, vibrations of the higher modes are also slightly suppressed. Accordingly, multi-mode vibrations of the manipulator are well attenuated, and the tip displacement converges quickly with the proposed method.

Subject Areas

experimental identification; multi-poles placement control; smart flexible manipulator; active vibration control; non-collocation

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