Active Vibration Control For Flexible Piezoelectic Manipulators By Using PID-Fuzzy Control Fusion

In the field of spaceflight and navigation and lightweight equipments workingin high speed, mechanical components should be light and flexible in order to reduceenergy lost, weight of whole system and cost. But the flexible components can bevibrated easily. Therefore it is very important and significative to study how toreduce the vibration of flexible manipulators.So, based on PID-Fuzzy control fusion theory, a method of the vibration controlfor the flexible manipulators with piezoelectric smart structure was presented, andexperimental setups were built by using PZT as the actuators and strains as sensor.Firstly, the paper summarized the conception and class of Smart MaterialStructure with emphasis on introducing the active control using PZT as actuators andpositive/negative piezoelectric effect, and discussed how to place the PZT actuators.Secondly, after analyzing the basic principles of the numerical PID and fussycontrol and comparing each other, we presented a method b ased on PID-Fuzzycontrol fusion theory, which is relative to Fuzzy-PID parallel (bimodule) control andFuzzy-PID series control. The method used fussy membership function to fuse thedata.By using VC++, we make a control program including control calculation, datarecording and save, data interface, the interface of experiment software. We set upthe equipment of active vibration control for flexible piezoelectric manipulators withPMAC, PZT actuator, dynamic strain record.Finally, a cantilevered beam, experimental setups of 1R and 2R flexiblemanipulators are built. The vibration control of the all flexible manipulators isachieved by experiments. The experiment results show that the proposed method issimple arithmetic and real-time characteristic without the dynamic model of themanipulators and has good robustness and fast response for vibration control offlexible manipulators.This method is not only easy to modify the parameters and good at reducingvibration of low frequency, but also had no influence in flexibility and adaptabilityof flexible manipulators. It is a good part for vibration active control of flexibleredundant manipulators and vibration active control of dual -driven by servo motorsand PZT actuators, also for improving end position tracking accuracy.