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Improved Vibration Suppression Strategy of Fuzzy PI Servo Control for Dual Flexible System with Flexible Joints

Author

Listed:
  • Xiangchen Liu

    (School of Aeronautics and Astronautics, Shenyang Aerospace University, Shenyang 110136, China)

  • Minghai Wang

    (School of Mechanical and Electrical Engineering, Shenyang Aerospace University, Shenyang 110136, China)

  • Yihan Wang

    (School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore 639798, Singapore)

Abstract

A high performance manipulator servo drive system is a double flexible system with flexible joints and flexible loads. Flexible joints are composed of elastic connecting elements, and flexible loads are flexible Euler beams with elastic deformation. The dual flexible system has highly nonlinear time-varying characteristics. This kind of characteristic will cause resonance of the double-flexible system and affect the dynamic characteristics of the system. In order to suppress the system resonance, the nonlinear dynamics model of the system with two flexible bodies is established. Then, the servo control method of double flexible body system is designed, and the range of PI controller parameters is determined by the same resistance pole assignment method. Then, a fuzzy control rule is designed to dynamically adjust PI controller parameters based on pole assignment. Finally, the improved fuzzy PI control strategy is simulated numerically. The simulation results show that the vibration of the double-flexible system can be effectively suppressed by establishing the precise dynamic model and designing PI controller parameters.

Suggested Citation

  • Xiangchen Liu & Minghai Wang & Yihan Wang, 2023. "Improved Vibration Suppression Strategy of Fuzzy PI Servo Control for Dual Flexible System with Flexible Joints," Mathematics, MDPI, vol. 11(4), pages 1-15, February.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:4:p:885-:d:1063270
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    References listed on IDEAS

    as
    1. Xiangchen Liu & Yihan Wang & Minghai Wang, 2022. "Speed Fluctuation Suppression Strategy of Servo System with Flexible Load Based on Pole Assignment Fuzzy Adaptive PID," Mathematics, MDPI, vol. 10(21), pages 1-17, October.
    2. Dongyang Shang & Xiaopeng Li & Meng Yin & Fanjie Li, 2021. "Control Method of Flexible Manipulator Servo System Based on a Combination of RBF Neural Network and Pole Placement Strategy," Mathematics, MDPI, vol. 9(8), pages 1-28, April.
    Full references (including those not matched with items on IDEAS)

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