Akademik Veri Yönetim Sistemi
SIMULATION MODELLING PRACTICE AND THEORY, cilt.111, 2021 (SCI-Expanded, Scopus)
This paper presents an improved vibration control method that controls the amplitudes of residual vibrations of a flexible non-uniform shaped manipulator with higher suppression ratio. The proposed new method suppresses the residual vibrations that occur after motion by shaping the velocity input. By considering the parameters of the experimental system, an analytical model is established according to the natural frequency of the system which is effective in the vibrations that occur in the direction of motion. To demonstrate the accuracy of the established model, transient analysis is performed by the Fast Fourier Transform (FFT) method and the resulting dynamic response is compared with the response of the experimental system. The motivation of this study is to add the shaped exponential-harmonic velocity input to the end of the trapezoidal or triangular velocity input to suppress the velocity response that is in the region of the residual vibrations. The effects of changes in the amplitude, frequency, exponential decay factor, phase angle and application time parameters of the exponential-harmonic input on the control of the residual vibration amplitudes are examined. The obtained results are compared with the experimental results and it is observed that the proposed vibration control method has succeeded in suppressing the residual vibrations by up to 99%. Thanks to the proposed method, the time needed for the manipulator to reach the steady-state time at the end of the motion was reduced from 18 s to the motion time.