Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models
文献类型：期刊论文
| 作者 | Zhao, Zhili; Qiu ZC(邱志成); Zhang XM(张宪民); Han JD(韩建达)
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| 刊名 | MECHANICAL SYSTEMS AND SIGNAL PROCESSING
 |
| 出版日期 | 2016 |
| 卷号 | 70-71页码:345-372 |
| 关键词 | Pneumatic drive Piezoelectric flexible manipulator Vibration control Self-organizing map Variable damping pole-placement |
| ISSN号 | 0888-3270 |
| 产权排序 | 2 |
| 通讯作者 | 邱志成 |
| 中文摘要 | A kind of hybrid pneumatic-piezoelectric flexible manipulator system has been presented in the paper. A hybrid driving scheme is achieved by combining of a pneumatic proportional valve based pneumatic drive and a piezoelectric actuator bonded to the flexible beam. The system dynamics models are obtained based on system identification approaches, using the established experimental system. For system identification of the flexible piezoelectric manipulator subsystem, parametric estimation methods are utilized. For the pneumatic driven system, a single global linear model is not accurate enough to describe its dynamics, due to the high nonlinearity of the pneumatic driven system. Therefore, a self-organizing map (SOM) based multi-model system identification approach is used to get multiple local linear models. Then, a SOM based multi-model inverse controller and a variable damping pole-placement controller are applied to the pneumatic drive and piezoelectric actuator, respectively. Experiments on pneumatic driven vibration control, piezoelectric vibration control and hybrid vibration control are conducted, utilized proportional and derivative (PD) control, SOM based multi-model inverse controller, and the variable damping pole-placement controller. Experimental results demonstrate that the investigated control algorithms can improve the vibration control performance of the pneumatic driven flexible piezoelectric manipulator system. (C) 2015 Elsevier Ltd. All rights reserved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Mechanical |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | POSITION FEEDBACK ; SYSTEMS ; DESIGN |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000366765500021 |
| 源URL | [http://ir.sia.cn/handle/173321/17613]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhao, Zhili,Qiu ZC,Zhang XM,et al. Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models[J]. MECHANICAL SYSTEMS AND SIGNAL PROCESSING,2016,70-71:345-372. |
| APA | Zhao, Zhili,Qiu ZC,Zhang XM,&Han JD.(2016).Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models.MECHANICAL SYSTEMS AND SIGNAL PROCESSING,70-71,345-372. |
| MLA | Zhao, Zhili,et al."Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models".MECHANICAL SYSTEMS AND SIGNAL PROCESSING 70-71(2016):345-372. |
入库方式： OAI收割
来源：沈阳自动化研究所
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