Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam
文献类型：期刊论文
| 作者 | Qiu ZC(邱志成); Han JD(韩建达) ; Liu JG(刘金国)
|
| 刊名 | Journal of Vibration and Control
 |
| 出版日期 | 2015 |
| 卷号 | 21期号:2页码:343-358 |
| 关键词 | Flexible smart manipulator active vibration control fuzzy sliding mode control experiments variable structure control |
| ISSN号 | 1077-5463 |
| 产权排序 | 1 |
| 通讯作者 | 邱志成 |
| 中文摘要 | Space robots are a kind of coupling system with a rigid body and flexible structures, in which harmonic drive gears are usually used as speed reducers. Thus, the vibration problem is unavoidable due to maneuvering and external disturbances. This paper is concerned with the design and implementation of a fuzzy sliding mode control (FSMC) algorithm and a composite controller to dampen the vibration of a flexible manipulator with a flexible link and a harmonic drive gear (flexible joint). The designed controllers are used to dampen the end-point vibration of the flexible link and flexible joint manipulator, to compensate for unknown and time-varying nonlinear uncertain parameters, such as friction torque and flexible joint characteristics of a harmonic drive gear, etc. The experimental comparison research was conducted, including set-point active vibration control and vibration suppression under resonant excitation. The experimental results demonstrate that the FSMC and the composite algorithms can significantly enhance the performance of vibration suppression for flexible manipulator. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Acoustics ; Engineering, Mechanical ; Mechanics |
| 研究领域[WOS] | Acoustics ; Engineering ; Mechanics |
| 关键词[WOS] | HARMONIC DRIVES ; ACTIVE CONTROL ; LINK ; MANIPULATOR ; FEEDBACK ; ROBOT ; LOGIC |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000349085400012 |
| 公开日期 | 2013-12-26 |
| 源URL | [http://ir.sia.cn/handle/173321/13971]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Qiu ZC,Han JD,Liu JG. Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam[J]. Journal of Vibration and Control,2015,21(2):343-358. |
| APA | Qiu ZC,Han JD,&Liu JG.(2015).Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam.Journal of Vibration and Control,21(2),343-358. |
| MLA | Qiu ZC,et al."Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam".Journal of Vibration and Control 21.2(2015):343-358. |
入库方式： OAI收割
来源：沈阳自动化研究所
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