Analysis of an actively controlled composite box manipulator without external actuator
Küçük Resim Yok
Tarih
2024
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Sage Publications Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This study focuses on active vibration control for a single-link composite box manipulator by using a single actuator for driving and control actions. Model extraction and system identification techniques are studied to obtain mathematical models of the manipulator. The state space model is extracted from the finite element model using modal analysis conducted in ANSYS, while the system identification approach is an experimental modeling method using the input and output signals of the system. The input signals are defined as triangular and trapezoidal motion profiles, while the output signals are the acceleration signals of the manipulator. Proportional derivative and positive position feedback controllers are implemented on the obtained mathematical models to reduce residual vibrations. The simulation results are successfully verified by experiments, and uncontrolled/controlled results are evaluated with reduction rates.
Açıklama
Anahtar Kelimeler
Composite box cross-sectional manipulator, residual vibration, servomotor, proportional-derivative and positive position feedback controllers
Kaynak
Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering
WoS Q Değeri
Q4
Scopus Q Değeri
Q2
Cilt
238
Sayı
3
