Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB
A dual-flexible manipulator with a telescopic arm is affected by joint flexibility, load flexibility, and bearing friction, which will cause angular velocity fluctuation. Besides, the motion of the telescopic arm leads to dynamic parameters of the flexible load in the servo system time-varying. The...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2022-06-01
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| Series: | Alexandria Engineering Journal |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1110016821006979 |
| _version_ | 1818213020842590208 |
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| author | Dongyang Shang Xiaopeng Li Meng Yin Fanjie Li |
| author_facet | Dongyang Shang Xiaopeng Li Meng Yin Fanjie Li |
| author_sort | Dongyang Shang |
| collection | DOAJ |
| description | A dual-flexible manipulator with a telescopic arm is affected by joint flexibility, load flexibility, and bearing friction, which will cause angular velocity fluctuation. Besides, the motion of the telescopic arm leads to dynamic parameters of the flexible load in the servo system time-varying. The variation of dynamic parameters increases fluctuations of angular velocity. Fluctuations in angular velocity will aggravate the vibration of the manipulator and affect the control accuracy of end-effectors. In this paper, the adaptive PI control strategy with the disturbance observer (DOB) suppresses the vibration of the manipulator by weakening the angular velocity fluctuations. Firstly, dynamics equations of the dual-flexible manipulator servo system considering the bearing friction are established by using the assumed mode method. Next, the low-pass filter in DOB is designed according to the robust stability theorem, so that the servo system can satisfy the stability under dynamic parameters time-varying and friction torque simultaneously. Then, the adaptive law and the over-load compensation control law are designed by Lyapunov’s stability theorem. Finally, numerical simulation analysis and control experiments of the manipulator are carried out. The simulation and experimental results show that: 1) The bearing friction torque can cause angular velocity fluctuations, but the DOB can effectively reduce the influence of the disturbance torque. 2) The adaptive control strategy can effectively reduce angular velocity errors under conditions that the telescopic arm is in different lengths. Therefore, the adaptive PI control strategy with the DOB can effectively suppress angular velocity fluctuations of the manipulator. |
| first_indexed | 2024-12-12T05:57:39Z |
| format | Article |
| id | doaj.art-9d80fe8bc2ea47beb9789cc4fc33b65c |
| institution | Directory Open Access Journal |
| issn | 1110-0168 |
| language | English |
| last_indexed | 2024-12-12T05:57:39Z |
| publishDate | 2022-06-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Alexandria Engineering Journal |
| spelling | doaj.art-9d80fe8bc2ea47beb9789cc4fc33b65c2022-12-22T00:35:32ZengElsevierAlexandria Engineering Journal1110-01682022-06-0161647414756Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOBDongyang Shang0Xiaopeng Li1Meng Yin2Fanjie Li3School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, PR ChinaSchool of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, PR China; Corresponding author.Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, PR ChinaSchool of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, PR ChinaA dual-flexible manipulator with a telescopic arm is affected by joint flexibility, load flexibility, and bearing friction, which will cause angular velocity fluctuation. Besides, the motion of the telescopic arm leads to dynamic parameters of the flexible load in the servo system time-varying. The variation of dynamic parameters increases fluctuations of angular velocity. Fluctuations in angular velocity will aggravate the vibration of the manipulator and affect the control accuracy of end-effectors. In this paper, the adaptive PI control strategy with the disturbance observer (DOB) suppresses the vibration of the manipulator by weakening the angular velocity fluctuations. Firstly, dynamics equations of the dual-flexible manipulator servo system considering the bearing friction are established by using the assumed mode method. Next, the low-pass filter in DOB is designed according to the robust stability theorem, so that the servo system can satisfy the stability under dynamic parameters time-varying and friction torque simultaneously. Then, the adaptive law and the over-load compensation control law are designed by Lyapunov’s stability theorem. Finally, numerical simulation analysis and control experiments of the manipulator are carried out. The simulation and experimental results show that: 1) The bearing friction torque can cause angular velocity fluctuations, but the DOB can effectively reduce the influence of the disturbance torque. 2) The adaptive control strategy can effectively reduce angular velocity errors under conditions that the telescopic arm is in different lengths. Therefore, the adaptive PI control strategy with the DOB can effectively suppress angular velocity fluctuations of the manipulator.http://www.sciencedirect.com/science/article/pii/S1110016821006979Dual-flexible manipulatorAdaptive controlDisturbance observerBearing friction torque |
| spellingShingle | Dongyang Shang Xiaopeng Li Meng Yin Fanjie Li Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB Alexandria Engineering Journal Dual-flexible manipulator Adaptive control Disturbance observer Bearing friction torque |
| title | Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB |
| title_full | Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB |
| title_fullStr | Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB |
| title_full_unstemmed | Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB |
| title_short | Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB |
| title_sort | speed control method for dual flexible manipulator with a telescopic arm considering bearing friction based on adaptive pi controller with dob |
| topic | Dual-flexible manipulator Adaptive control Disturbance observer Bearing friction torque |
| url | http://www.sciencedirect.com/science/article/pii/S1110016821006979 |
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