Grey Box System Identification And Optimal Control Of A Single Link Flexible Manipulator With Acld Treatment Using Stand - Off - Layer

摘要

Accurate trajectory regulation of flexible link manipulators is a challenging task. During hub angle regulation, the tip or the end-effector of the flexible manipulator undergoes excessive vibrations. Using active vibration control techniques on the piezoelectric materials attached on the flexible link the amplitude and duration of these vibrations can be reduced. Apart from these active control techniques, passive damping techniques are robust, effective and fail safe. The most important property of these techniques is that they don't require any actuation energy to obtain the necessary damping of the flexible link. Passive constrained layer damping (PCLD) is an old technique to suppress vibrations. It has also been observed that by applying the Stand-of-Layer between flexible structure and the viscoelastic layer, effective damping can be increased. In combination with active control techniques, these passive treatments can be made even more effective. In the present work, the effectiveness of these active/passive techniques has been investigated to reduce the end-effector vibrations during hub angle regulation.