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Appl. Sci. 2017, 7(3), 309; doi:10.3390/app7030309

Experimental Identification and Vibration Control of A Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control

1
College of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China
2
China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
*
Author to whom correspondence should be addressed.
Received: 6 January 2017 / Revised: 13 March 2017 / Accepted: 17 March 2017 / Published: 21 March 2017

Abstract

This paper presents experimental identification and vibration suppression of a flexible manipulator with piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined where the move distance of the closed loop poles is the shortest. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Accordingly, multi-mode vibrations of the manipulator are well attenuated. View Full-Text
Keywords: experimental identification; multi-poles placement control; piezoelectric flexible manipulator; active vibration control experimental identification; multi-poles placement control; piezoelectric flexible manipulator; active vibration control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Lou, J.; Liao, J.; Wei, Y.; Yang, Y.; Li, G. Experimental Identification and Vibration Control of A Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control. Appl. Sci. 2017, 7, 309.

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