Journal of South China University of Technology (Natural Science Edition) ›› 2011, Vol. 39 ›› Issue (4): 62-65,104.doi: 10.3969/j.issn.1000-565X.2011.04.011

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Vibration Control of Flexible Translating Manipulator with Pneumatic Driving

Xie Zhuo-wei  Shi Ming-li  Wang Bin  Qiu Zhi-cheng   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2010-11-10 Revised:2010-12-22 Online:2011-04-25 Published:2011-03-01
  • Contact: 邱志成(1973-)，男，教授，博士生导师，主要从事挠性结构建模和控制研究 E-mail:zhchqiu@scut.edu.cn
  • About author:谢卓伟(1963-)，男，博士，副教授，主要从事现代机电控制与流体传动控制研究
  • Supported by:

    国家自然科学基金资助项目(90505014)；华南理工大学中央高校基本科研业务费专项资金资助项目(2009ZM0148)

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Abstract:

In order to effectively suppress the vibration of flexible translating manipulators,a rod cylinder-based pneumatic driving scheme is proposed,which suppress the vibration by controlling the motion of piston rod via the pulse code modulation（PCM） method.Then,the pneumatic circuit is constructed,and the system model of the flexible manipulator with pneumatic driving is established.Moreover,based on the closed-loop equation analysis of the control algorithm,the feasibility of simultaneous slide positioning and vibration suppression is analyzed.Finally,an experimental setup of the flexible translating manipulator with pneumatic driving is proposed and is used to perform an active vibration control experiment.The results demonstrate that the proposed scheme effectively suppresses the low-frequency mode vibration of flexible manipulators and implements the pneumatic positioning simultaneously.

Key words: flexible translating manipulator, active vibration control, pneumatic drive, pulse code modulation (PCM)