Hybrid control of motion and vibration for smart flexible-link mechanism

Author

Nishidome, C. ; Kajiwara, I.

Author_Institution

CATEC Inc, Tokyo, Japan

Volume

2

fYear

2002

fDate

5-7 Aug. 2002

Firstpage

1129

Abstract

Technology of smart structures is introduced in the flexible-link system to conduct the vibration control. The smart flexible-link is composed of two flexible-links and piezoelectric films which have the sensor/actuator function for itself. An approach for hybrid control of motion and vibration is proposed in which a large magnitude and slow vibration is controlled by the servomotors and a minute vibration is controlled by the piezoelectric film actuators. The motion and vibration controller for the servomotor is designed with the mixed H₂/H_∞ control problem and the vibration controller for the piezoelectric films is constructed by a direct velocity feedback, resulting in the enhanced performance on the motion and vibration control.

Keywords

flexible structures; intelligent structures; motion control; optimal control; piezoelectric actuators; piezoelectric thin films; reduced order systems; state-space methods; vibration control; flexible-link system; modal analysis; motion control; optimal control; piezoelectric films; reduced-order model; servomotors; smart structures; state space; vibration control; Feedback; Intelligent actuators; Intelligent sensors; Intelligent structures; Motion control; Piezoelectric actuators; Piezoelectric films; Servomotors; Velocity control; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2002. Proceedings of the 41st SICE Annual Conference

Print_ISBN

0-7803-7631-5

Type

conf

DOI

10.1109/SICE.2002.1195340

Filename

1195340