Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder

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	Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder
	Qiu ZC(邱志成); Wang B(王斌); Zhang XM(张宪民); Han JD(韩建达)
刊名	Mechanical Systems and Signal Processing
	2013
卷号	36 期号:2 页码:290-316
关键词	Algorithms Closed loop systems Cylinders (shapes) Delay control systems Flexible manipulators MIMO systems Piezoelectric actuators Piezoelectricity Pneumatic control equipment Pneumatic drives Pulse code modulation
ISSN号	0888-3270
通讯作者	邱志成
产权排序	1
中文摘要	This study presents a novel translating piezoelectric flexible manipulator driven by a rodless cylinder. Simultaneous positioning control and vibration suppression of the flexible manipulator is accomplished by using a hybrid driving scheme composed of the pneumatic cylinder and a piezoelectric actuator. Pulse code modulation (PCM) method is utilized for the cylinder. First, the system dynamics model is derived, and its standard multiple input multiple output (MIMO) state-space representation is provided. Second, a composite proportional derivative (PD) control algorithms and a direct adaptive fuzzy control method are designed for the MIMO system. Also, a time delay compensation algorithm, bandstop and low-pass filters are utilized, under consideration of the control hysteresis and the caused high-frequency modal vibration due to the long stroke of the cylinder, gas compression and nonlinear factors of the pneumatic system. The convergence of the closed loop system is analyzed. Finally, experimental apparatus is constructed and experiments are conducted. The effectiveness of the designed controllers and the hybrid driving scheme is verified through simulation and experimental comparison studies. The numerical simulation and experimental results demonstrate that the proposed system scheme of employing the pneumatic drive and piezoelectric actuator can suppress the vibration and achieve the desired positioning location simultaneously. Furthermore, the adopted adaptive fuzzy control algorithms can significantly enhance the control performance.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Mechanical
研究领域[WOS]	Engineering
关键词[WOS]	SERVO SYSTEMS ; POSITION CONTROL ; ACTUATOR ; DESIGN
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000319302100005
公开日期	2013-04-21
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/10627]
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	Qiu ZC,Wang B,Zhang XM,et al. Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder[J]. Mechanical Systems and Signal Processing,2013,36(2):290-316.
APA	Qiu ZC,Wang B,Zhang XM,&Han JD.(2013).Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder.Mechanical Systems and Signal Processing,36(2),290-316.
MLA	Qiu ZC,et al."Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder".Mechanical Systems and Signal Processing 36.2(2013):290-316.