Research on Hardware-in-the-loop Real-time Simulation System for Vibration Control of Flexible Manipulator
Precision of positioning and operation are enormously affected by vibration while flexible manipulator is running. Great attention has been paid on the research on vibration control of flexible manipulator. However, there is shortage of effective and uniform real-time simulation platform to date. Based on the study of coupled modeling and dynamic characteristics, the two-link flexible manipulator system made of piezoelectric smart structure was established. The manipulator’s motion was controlled by single-chip computer system and serial communication module provided by simulink. The date exchange between manipulator system and the MATLAB workspace was implemented by the data acquisition module, which combined physical system with virtual environment. So the real-time simulation system for vibration control of flexible manipulator was set up. Adopted the PID control algorithm, the entire experimental system was debugged. The results showed that the system can work normally, and the PID control algorithm can also effectively suppress the vibration of flexible manipulator. The platform can be used for vibration control experimental research and the actual system.
Flexible Manipulator Active Vibration Control Hardware-in-the-loop Simulation Real-time Control
Jihui Zhou Lin Li Lan Ye Qingsong Cao
School of Mechanical & Electronical Engineering East China Jiaotong University Nanchang, Jiangxi Province 330013, China
国际会议
温州
英文
2297-2300
2009-11-26（万方平台首次上网日期，不代表论文的发表时间）