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Información general |
| Autor |
Shao, Zhu-Feng; Tang, Xiaoqiang; Wangì, Li-Ping; You, Zheng |
| Publicado |
InTech Open Access Publisher, 2013
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| Abstract |
This paper focuses on the vibration control issue
of a Flexibly Supported Parallel Manipulator (FSPM),
which consists of a flexible support and a rigid parallel
manipulator. The distinct characteristic of an FSPM is the
dynamic coupling between the rigid and flexible parts,
which challenges the vibration control implemented by
the rigid parallel manipulator. The research object is a
40m scale model of the Feed Support System (FSS) for the
Five‐hundred‐meter Aperture Spherical radio Telescope
(FAST) project, which is composed of a cable‐driven
parallel manipulator, an A‐B rotator and a rigid Stewart
manipulator, assembled in series. The cable‐driven
parallel manipulator is sensitive to disturbances and
could lead to system vibration with a large terminal error.
The rigid Stewart manipulator is designed to carry out
the vibration control. Considering the time‐variability,
nonlinearity and dynamic coupling of an FSPM, a fuzzy
proportional–integral–derivative (PID) controller is
introduced. The fuzzy inference rules established on the
terminal error and the error change are used to adjust the
PID parameters to achieve better performance. Physical
experiments are carried out and the results indicate that
the fuzzy PID method can effectively promote the
terminal precision and maintain system stability. The
control methodology proposed in this paper is quite
promising for the vibration control of an FSPM. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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