A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement
A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement
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DOI：
10.1016/s0957-4158(03)00066-7
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发表时间：
2004-05-01
期刊：
影响因子：
3.3
通讯作者：
Tso, SK
中科院分区：
文献类型：
--
作者：
Sun, D;Mills, JK;Tso, SK
本文介绍了一种利用智能材料，特别是压电材料来控制单连杆柔性机械臂的方法。用Lyapunov方法研究了将PD反馈和指令电压相结合的方案应用于粘贴在柔性杆表面的分段PZT驱动器，可以有效地控制刚体运动，同时抑制杆的振动。所提出的PZT执行器控制的独特功能有两个方面：第一，它利用与链接上特定点的角速度形成对比的线性信号，这些信号很容易获得。其次，在分析振型函数的基础上，对执行器的位置进行了分析。利用虚拟关节模型分析了采用所提出的PZT驱动器控制的系统的稳定性。模拟和实验结果证实了这些理论预测。(C)2003爱思唯尔有限公司。保留所有权利。
This paper describes an approach for the use of smart materials, specifically, piezoelectric materials (PZT), in control of a single-link flexible manipulator. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages applied to segmented PZT actuators, which are bonded to the surface of the flexible link, can effectively control the rigid body motion and at the same time, damp link vibrations. The unique features of the proposed PZT actuator control are twofolds: First, it utilizes linear in contrast to angular velocities of particular points on the link, signals which are readily available. Second, the actuator placement is examined based on the analysis of mode shape functions. Stability of the system with the proposed PZT actuator control is analyzed using a virtual joint model. Simulation and experimental results confirm these theoretical predictions. (C) 2003 Elsevier Ltd. All rights reserved.