Analysis of an actively controlled composite box manipulator without external actuator

Lök Ş. İ., MALGACA L., Uyar M.

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, cilt.238, sa.3, ss.504-520, 2024 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 238 Sayı: 3
  • Basım Tarihi: 2024
  • Doi Numarası: 10.1177/09596518231196506
  • Dergi Adı: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, INSPEC, Metadex, Civil Engineering Abstracts
  • Sayfa Sayıları: ss.504-520
  • Anahtar Kelimeler: Composite box cross-sectional manipulator, proportional–derivative and positive position feedback controllers, residual vibration, servomotor
  • Dokuz Eylül Üniversitesi Adresli: Evet

Özet

This study focuses on active vibration control for a single-link composite box manipulator by using a single actuator for driving and control actions. Model extraction and system identification techniques are studied to obtain mathematical models of the manipulator. The state space model is extracted from the finite element model using modal analysis conducted in ANSYS, while the system identification approach is an experimental modeling method using the input and output signals of the system. The input signals are defined as triangular and trapezoidal motion profiles, while the output signals are the acceleration signals of the manipulator. Proportional derivative and positive position feedback controllers are implemented on the obtained mathematical models to reduce residual vibrations. The simulation results are successfully verified by experiments, and uncontrolled/controlled results are evaluated with reduction rates.