Motion Control and Vibration Suppression of Flexible Lumped Systems via Sensorless LQR Control
نویسندگان
چکیده
This work attempts to achieve motion control along with vibration suppression of flexible systems by developing a sensorless closed loop LQR controller. Vibration suppression is used as a performance index that has to be minimized so that motion control is achieved with zero residual vibration. An estimation algorithm is combined with the regular LQR to develop sensorless motion and vibration controller that is capable of positioning multi degrees of freedom flexible system point of interest to a pre-specified target position with zero residual vibration. The validity of the proposed controller is verified experimentally by controlling a sensorless dynamical system with finite degrees of freedom through measurements taken from its actuator.
منابع مشابه
Motion control and vibration suppression of flexible lumped systems via sensorless LQR
This work attempts to achieve motion control along with vibration suppression of flexible systems by developing a sensorless closed loop LQR controller. Vibration suppression is used as a performance index that has to be minimized so that motion control is achieved with zero residual vibration. An estimation algorithm is combined with the regular LQR to develop sensorless motion and vibration c...
متن کاملEstimation based PID controller-sensorless wave based technique
This paper presents a sensorless estimation algorithm for estimating flexible system parameters, dynamics and externally applied forces or torques due to system interaction with the environment. The proposed algorithm makes it possible to design a chain of observers that require measuring actuator’s current and velocity along with performing two off-line experiments that do not require any addi...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملModelling and Simulation of Vibration and Input Tracking Control of a Single-Link Flexible Manipulator
This paper presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, a Linear Quadratic Regulator (LQR) was initiall...
متن کاملActive Vibration Suppression of a Nonlinear Flexible Spacecraft
In this article, the issue of attitude control and active vibration suppression of a nonlinear flexible spacecraft is assessed through piezoelectric patches as actuator and sensors. Two controller loops are applied: the inner loop, to make the panel vibration damped through piezoelectric patches; and the outer loop, to perform spacecraft maneuver using the reaction wheel acting on the hub. An o...
متن کامل