Resonant control of a single-link flexible manipulator
This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous sys...
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| Format: | Article |
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Penerbit UTM Press
2014
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| _version_ | 1796861270413017088 |
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| author | Fulazzaky, Mohamad Ali Md. Din, Mohd. Fadhil Mohd. Yusoff, Abdull Rahim Khamidun, Mohd. Hairul |
| author_facet | Fulazzaky, Mohamad Ali Md. Din, Mohd. Fadhil Mohd. Yusoff, Abdull Rahim Khamidun, Mohd. Hairul |
| author_sort | Fulazzaky, Mohamad Ali |
| collection | ePrints |
| description | This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous system which is modeled using the finite element method is considered, and the resonant modes of the system are determined. Two negative feedback controllers are used to control the system. The inner feedback control loop designed using the resonant frequencies adds damping to the system and suppress the vibration effect around the hub angle. For the outer feedback control loop, a proportional integral controller is designed to achieve a zero steady state error so that a precise tip positioning can be achieved. Simulation results are presented and discussed to show the effectiveness of the resonant control scheme. |
| first_indexed | 2024-03-05T19:53:48Z |
| format | Article |
| id | utm.eprints-62457 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:53:48Z |
| publishDate | 2014 |
| publisher | Penerbit UTM Press |
| record_format | dspace |
| spelling | utm.eprints-624572017-11-01T04:17:08Z http://eprints.utm.my/62457/ Resonant control of a single-link flexible manipulator Fulazzaky, Mohamad Ali Md. Din, Mohd. Fadhil Mohd. Yusoff, Abdull Rahim Khamidun, Mohd. Hairul TK Electrical engineering. Electronics Nuclear engineering This paper presents resonant control of a single-link flexible manipulator based on the resonant modes frequencies of the system. A flexible manipulator system is a single-input multi-output (SIMO) system with motor torque as an input and hub angle and the tip deflection as outputs. The previous system which is modeled using the finite element method is considered, and the resonant modes of the system are determined. Two negative feedback controllers are used to control the system. The inner feedback control loop designed using the resonant frequencies adds damping to the system and suppress the vibration effect around the hub angle. For the outer feedback control loop, a proportional integral controller is designed to achieve a zero steady state error so that a precise tip positioning can be achieved. Simulation results are presented and discussed to show the effectiveness of the resonant control scheme. Penerbit UTM Press 2014 Article PeerReviewed Fulazzaky, Mohamad Ali and Md. Din, Mohd. Fadhil and Mohd. Yusoff, Abdull Rahim and Khamidun, Mohd. Hairul (2014) Resonant control of a single-link flexible manipulator. Jurnal Teknologi (Sciences and Engineering), 67 (5). pp. 35-39. ISSN 0127-9696 http://dx.doi.org/10.11113/jt.v67.2840 DOI:10.11113/jt.v67.2840 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Fulazzaky, Mohamad Ali Md. Din, Mohd. Fadhil Mohd. Yusoff, Abdull Rahim Khamidun, Mohd. Hairul Resonant control of a single-link flexible manipulator |
| title | Resonant control of a single-link flexible manipulator |
| title_full | Resonant control of a single-link flexible manipulator |
| title_fullStr | Resonant control of a single-link flexible manipulator |
| title_full_unstemmed | Resonant control of a single-link flexible manipulator |
| title_short | Resonant control of a single-link flexible manipulator |
| title_sort | resonant control of a single link flexible manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
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