Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Vibration and Shock》 2015-22
Add to Favorite Get Latest Update

Positioning control and elastic vibration suppressing of an ammunition transfer manipulator with transmission flexibility and payload uncertainty

GUO Yu-fei;HOU Bao-lin;College of Mechanical Automation,Wuhan University of Science and Technology;School of Mechanical Engineering,Nanjing University of Science and Technology;  
The positioning control and elastic vibration suppressing of a novel 2-DOF ammunition transfer manipulators were analysed in consideration of joint chain flexibility and payload uncertainty. Regarding the joint and chain's elasticity as a non-inertial spring,a dynamic model of the manipulator was derived via Lagrange method. Based on the singular perturbation method,the model was decomposed into two part,a fast subsystem and a slow subsystem. For the fast subsystem,a velocity difference feedback controller was proposed to suppress the elastic vibration. For the slow subsystem,a PD controller with continuous time-varying gains was designed based on a given implicit Lyapunov function.The controller's gains,which are continuous-differentiable functions of the state,increase and tend to infinity as the system approaches the original state,but the control force always satisfies the given constraint. The simulation results demonstrate that the controller greatly compensates the effects of transmission flexibility and payload uncertainty,fulfills the accurate point to point control of the ammunition transfer manipulator,and is of good robustness.
【Fund】: 国家自然科学基金项目(51175266)
【CateGory Index】: TJ810.3
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【References】
Chinese Journal Full-text Database 1 Hits
1 WEI Ran;ZHAO Mingliang;WEI Wei;Department of Mechanical,Power and Information Engineering,China University of Mining and Technology Yinchuan College;;Study on vibration suppression technology of distributed mass load crane based on instruction smoothing[J];机械设计与制造工程;2017-08
【Citations】
Chinese Journal Full-text Database 6 Hits
1 CHEN Jian;GE Lian-zheng;LI Rui-feng;State Key Laboratory of Robotics and System,Harbin Institute of Technology;;Design of robust controller for robot flexible joint with friction characteristic[J];吉林大学学报(工学版);2015-06
2 LIANG Jie;CHEN Li;Department of Mechanical Engineering and Automation,Fuzhou University;China Aerodynamics Research and Development Center;;Nonsingular fuzzy terminal sliding mode control and elastic vibration suppressing of a free-floating space robot with flexible joints based on trajectory tracking of the singular perturbation method[J];振动与冲击;2013-23
3 GUO Chuangqiang,NI Fenglei,SUN Jingting,LIU Hong (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China);Vibration Suppression for the Flexible Joint with Torque Sensor[J];机器人;2011-04
4 DANG Jin~1,NI Fenglei~1,LIU Yechao~1,LIU Hong~(1,2) (1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China; 2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany);Design for Flexible Joint Controller Based on a New Compensation Control Strategy[J];机器人;2011-02
5 DANG Jin1,NI Fenglei1,LIU Yechao1,LIU Hong1,2(1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China; 2.Institute of Robotics and Mechatronics,Germany Aerospace Center,Munich 82230,Germany);Control Strategy for Flexible Manipulator Based on Feedforward Compensation and Fuzzy-Sliding Mode Control[J];西安交通大学学报;2011-03
6 Peng Ji-Gen Ni Yuan-Hua Qiao Hong Institute for Information and System Sciences, Faculty of Science, Xi'an Jiatong University, Xi'an 710049 School of Mathematical Science, Qufu Normal University, Qufu 273165 Key Laboratory of Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080;Neural Network Control of Flexible-joint Robot Manipulators[J];自动化学报;2007-02
【Co-citations】
Chinese Journal Full-text Database 9 Hits
1 YIN Qiu-ming;FAN Ji-hua;CHEN Hong;WANG Qi;FANG Hai-feng;WU Qun-biao;School of Mechanical-Electronic and Power Engineering,Jiangsu University of Science and Technology;Suzhou Institute of Technology,Jiangsu University of Science and Technology;;Optimum Design of Rigid and Flexible Coupled Arm Considering Flexible Joints[J];组合机床与自动化加工技术;2018-02
2 NI Fenglei;ZOU Tian;SUN Yongjun;LIU Hong;LI Kui;State Key Laboratory of Robotics and System, Harbin Institute of Technology;;Design and Application of a 12-DOF Sensor on the End of Large Space Manipulator[J];机器人;2017-03
3 LIANG Jie;CHEN Li;LIANG Wulin;QIN Kaiyu;School of Astronautics&Aeronautic ,University of Electronic Science and Technology of China;China Aerodynamics Research and Development Center;Department of Mechanical Engineering and Automation,Fuzhou University;;Robust Adaptive Sliding Mode Control and Active Dual Vibration Suppression in Flexible Joint Manipulator of Space Station with Elastic Foundation[J];载人航天;2016-06
4 LIANG Jie;CHEN Li;LIANG Pin;Department of Mechanical Engineering and Automation,Fuzhou University;China Aerodynamics Research and Development Center;School of Astronautics&Aeronautic ,University of Electronic Science and Technology of China;;Adaptive fuzzy global sliding mode control and active hierarchical vibration suppression of space robot with flexible-link and flexible-joint[J];振动与冲击;2016-18
5 ZHAO Hao;Jiaxing University;;Study on a Self Compensating Differential Torque Sensor[J];计量学报;2016-04
6 MA Lili;College of Equipment Engineering,Engineering University of PAP;;Design of Sliding Mode Controller for Robot with Three Joints[J];武警工程大学学报;2016-02
7 WANG Xuezhu;LI Hongyi;WANG Yuechao;CUI Long;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences;University of Chinese Academy of Sciences;;High-precision Adaptive Backstepping Control of Flexible Joint Robots[J];信息与控制;2016-01
8 GUO Yu-fei;HOU Bao-lin;College of Mechanical Automation,Wuhan University of Science and Technology;School of Mechanical Engineering,Nanjing University of Science and Technology;;Positioning control and elastic vibration suppressing of an ammunition transfer manipulator with transmission flexibility and payload uncertainty[J];振动与冲击;2015-22
9 WANG Xue-zhu;CUI Long;LI Hong-yi;WANG Yue-chao;LI Tao;ZHANG Tao;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences;University of Chinese Academy of Sciences;;Analysis and Optimization of Torque Measurement Technique for Harmonic Drive[J];宇航学报;2015-08
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 GUO Yu-fei;HOU Bao-lin;College of Mechanical Automation,Wuhan University of Science and Technology;School of Mechanical Engineering,Nanjing University of Science and Technology;;Positioning control and elastic vibration suppressing of an ammunition transfer manipulator with transmission flexibility and payload uncertainty[J];振动与冲击;2015-22
2 JIN Jie;WANG Shuang;HUANG Surong;School of Mechatronics Engineering and Automation,Shanghai University;School of information and electronic engineering,Shandong Institute of Business and Technology;;Research of Mechanic Resonance Suppression for Flexible System Based on Acceleration Feedback[J];电机与控制应用;2015-11
3 Ouyang Huimin;Zhang Guangming;Mei Lei;Deng Xin;College of Automation and Electrical Engineering,Nanjing Tech University;;Residual Vibration Suppression for Mechanical Systems Based on S-Shaped Curve Trajectory[J];机械科学与技术;2015-05
4 LI Yao;SUN Hongli;WU Hongtao;YANG Xiaolong;DU Juan;School of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics;Shanghai Intelligent Space Control Technique Key Laboratory;;Virtual fatigue analysis on the micro-vibration isolation plate of spacecraft[J];机械设计与制造工程;2015-04
5 SUN Ning;FANG Yong-chun;CHEN He;Institute of Robotics and Automatic Information System, Nankai University;Tianjin Key Laboratory of Intelligent Robotics, Nankai University;;Antiswing tracking control for underactuated bridge cranes[J];控制理论与应用;2015-03
6 FENG Min-sheng;GUO Li-jin;YE Yu-xiang;School of Electrical Engineering & Automation,Tianjin Polytechnical University;;Control System Designation of Crane Anti-Swing Based on Robust PID[J];计算机仿真;2014-05
7 Zhang Quan;Wang Ruizhou;Zhou Liping;Tan Zhenzhen;Sun Zhijun;State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics;Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology;College of Civil Aviation,Nanjing University of Aeronautics and Astronautics;;Dynamic Modeling and Active Vibration Control of Flexible Parallel Manipulator[J];振动.测试与诊断;2013-06
8 WEN Shangqiao;Nanjing College of Information Technology;;Research of an Economical Flexible Manufacturing System[J];机床与液压;2013-16
9 YUAN Guo-ping,SHI Xiao-ping,LI Long(Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China);Adaptive robust attitude maneuver control of a flexible spacecraft with active vibration suppression[J];振动与冲击;2013-12
10 QIN Chun-yun1,YANG Zhi-rong1,2,RAO Zhu-shi1,2,TA Na1(1.Institute of Vibration,Shock & Noise,State Key Lab of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China;2.Marine Engineering Institute,Jimei University,Xiamen 361021,Fujian China);Study on Suppression of the Longitudinal Vibration of Ship’s Propulsion Shafting System[J];噪声与振动控制;2013-03
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 LIANG Jie1,2,CHEN Li1, 1.Department of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China 2.China Aerodynamics Research and Development Center,Mianyang 621000,China;Improved Nonlinear Feedback Control for Free-floating Space-based Robot with Time-delay Based on Predictive and Approximation of Taylor Series[J];航空学报;2012-01
2 LIANG Jie , CHEN Li (College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China);FUZZY LOGIC ADAPTIVE COMPENSATION CONTROL FOR DUAL-ARM SPACE ROBOT BASED ON COMPUTED TORQUE CONTROLLER TO TRACK DESIRED TRAJECTORY IN INERTIA SPACE[J];工程力学;2010-11
3 Ding Xilun,Yu Yushu(Robotics Institute,Beijing University of Aeronautics and Astronautics,Beijing 100191,China);A Multi-propeller and Multi-function Aero-robot and Its Motion Planning of Leg-wall-climbing[J];航空学报;2010-10
4 SU Wenjun1,2,SUN Yanhua1,2,YU Lie1,2 (1.Institute of Mechatronics and Information Systems,Xi'an Jiaotong University,Xi'an 710049,China; 2.MOE Key Laboratory of Strength and Vibration,Xi'an Jiaotong University,Xi'an 710049,China);Rotor Periodic Vibration Suppression for Controlled Magnetic Levitation System[J];西安交通大学学报;2010-07
5 NI Fenglei1,2,ZHU Yingyuan1,JIN Minghe1,ZOU Jibin2 (1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China; 2.Electrical Engineering Post-Doctoral Research Station,Harbin Institute of Technology,Harbin 150080,China);Implementation of Joint Servo Controller on-Chip[J];西安交通大学学报;2010-07
6 DAI Jinqiao,WANG Aimin,SONG Aiguo(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China);A Magneto-rheological Fluid Based Damper for Vibration Control of Flexible Robot[J];机器人;2010-03
7 LU Liang1,YANG Diange1,GU Zhengmin1,Zhang Xinfeng2,LIAN Xiaomin1(1.State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China;2.School of Automotive,Tongji University,Shanghai 201804,China);Designing Strategy for Smart Vehicle Electrical/Electronic Devices Based on Modularization[J];西安交通大学学报;2010-05
8 WANG Ke,LIU Xinzheng(School of Electrical Engineering,Xi'an Jiaotong University,Xi'an 710049,China);Application of Immune Single Neuron PID Regulator in Permanent Magnet Synchronous Machine AC Servo System[J];西安交通大学学报;2010-04
9 ZHANG Ding-guo(School of Sciences,Nanjing University of Science and Technology,Nanjing 210094,P.R.China);Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms[J];应用数学和力学;2009-10
10 LIU Shubo,ZHAO Dingxuan(College of Mechanical Science and Engineering,Jilin University,Changchun 130025,China);Method for Multi-Object Control Based on Static Output Feedback[J];西安交通大学学报;2009-07
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved