Time-Delayed Vibration Control of a Rotating Flexible Manipulator Based on Model Output Prediction Feedback

摘要

This paper is concerned with vibration control of a single-link flexible beam structure. The proposed beam is controlled by a servo motor through a harmonic gear reducer. After obtaining the models by system identification, a time-delayed optimal controller based on model output prediction and optimal control theory was designed to compensate the unknown time delay in the controlled system. Then, experiments on the proposed control scheme were conducted in a set-point vibration control process. The experimental results demonstrate that the performance of vibration suppression can be improved substantially when applying the proposed method in the presence of time delay compensation, as compared to the traditional proportional and derivative (PD) controller. The accuracy of models was validated according to experimental results, and the factors that influence the output prediction accuracy are analyzed in this paper.