| In this paper, active control of torsional vibration of a flexible manipulator is studied. A new intelligent piezoelectric actuator used to suppress torsional vibration is designed, and a two-link flexible manipulate system is founded. Using an appropriate control strategy, the actuator giving a torque output whose magnitude and direction is changed by the voltage according to vibration status, researches on how to suppress the torsional vibration of a flexible manipulator system are done.In chapt1, the significance of research work in this paper is represented. Then the actuator, measurement, control strategy, present research status that corresponds to active control of torsional vibration is all introduced, and thus the aim and task of this paper.In chapt2, the paper represents the design of a piezoelectric actuator. First the paper expatiates the base knowledge such as piezoelectric ceramic, piezoelectric effect and two application modes. Then facture of the actuator is represented in great detail including the mechanics and specific manufacturing process.In chapt3, the paper mainly introduces the hardware system of this research. The control panel, power amplification system, measurement system and actuator system is designed.In chapt4, the paper mainly represents the software system of this research. The several modules including sampling and display module, control module and actuator module are all represented detailedly. Specifically a signal process by embedding the software Matlab is added.In chapt5, the paper mainly represents the experimental prototype and control strategy. Dynamic module of system is founded , and an optimal controller is designed. To derive the experiments formulation of system state controlled and not controlled is done, At last system is tested through electric engine validating the works done before. In chapter 6, main achievements of the dissertation are summarized and the further research work which will be done in the near future is put forward.
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