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Vibration suppression strategy for dual-flexible manipulator using disturbance compensation fuzzy setting control method
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Dong-yang SHANG1, Xiao-peng LI1, Meng YIN2, Fan-jie LI1
Journal of Vibration Engineering | 2024, 37(1) : 1 - 10
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Journal of Vibration Engineering | 2024, 37(1): 1-10
Vibration suppression strategy for dual-flexible manipulator using disturbance compensation fuzzy setting control method
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Dong-yang SHANG1, Xiao-peng LI1, Meng YIN2, Fan-jie LI1
Affiliations
  • 1School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China
  • 2Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
Published: 2024-01-28 doi: 10.16385/j.cnki.issn.1004-4523.2024.01.001
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The variable-length dual-flexible manipulator is composed of a flexible joint and a flexible load，which is affected by flexibility，friction，and time variation of parameters. It will vibrate in the process of moving，which will reduce the tracking accuracy of the end-effector. In this paper，the fuzzy tuning PI control strategy based on disturbance observer is used to control the output speed of the dual-flexible manipulator servo system. The vibration of the manipulator can be suppressed indirectly by controlling the speed fluctuation of the flexible load. Based on the assumed modal method and the Lagrange principle，the dynamic equations of the dual-flexible manipulator are established. A low pass filter in the disturbance observer is designed according to the robust stability theorem，so that the disturbance observer can satisfy the stability of the controller parameter time-varying and the controlled object parameter perturbation jointly. The effectiveness of the proposed method is verified by numerical simulation and control experiments of the dual-flexible manipulator servo system. The experimental results show that the proposed control strategy can better eliminate the influence of parameter time-varying and flexibility on the output speed，and improve the control precision of the end-effector.

vibration control  /  flexible manipulator  /  disturbance observer  /  fuzzy setting  /  PI control
Dong-yang SHANG, Xiao-peng LI, Meng YIN, Fan-jie LI. Vibration suppression strategy for dual-flexible manipulator using disturbance compensation fuzzy setting control method[J]. Journal of Vibration Engineering, 2024 , 37 (1) : 1 -10 . DOI: 10.16385/j.cnki.issn.1004-4523.2024.01.001
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Year 2024 volume 37 Issue 1
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Article Info
doi: 10.16385/j.cnki.issn.1004-4523.2024.01.001
  • Receive Date：2022-03-14
  • Online Date：2026-02-10
  • Published：2024-01-28
Article Data
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  • Received：2022-03-14
  • Revised：2022-06-28
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Affiliations
    1School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China
    2Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
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