Binocular 3D detection and active control of flexible arm vibration

被引：0
|
作者：
Qiu Z.-C. [1 ]
Xiao J. [1 ]
Liu J.-G. [2 ]
机构：
[1] School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou
[2] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
来源：
Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2019年 / 23卷 / 10期
关键词：
3D reconstruction; Active control; Ant colony optimization; Binocular vision; Flexible manipulator;
D O I：
10.15938/j.emc.2019.10.015
中图分类号：
学科分类号：
摘要：
Aiming at the vibration problem of the flexible arm, a set of experimental platform based on binocular vision detection and servo motor drive is designed and built. According to the running state of motor, the vibration of the flexible arm was divided into fixed point vibration and rotary vibration. The characteristic points of the flexible arm were reconstructed by binocular vision, and then the fixed-point vibration and rotary vibration signals of the flexible arm were obtained. The vibration characteristics of the flexible arm were obtained by using modal analysis of the vibration signal. Then, the PD controller based on the ant colony optimization parameter was designed to suppress the bending vibration. The control effect was compared with that of the conventional PD control. The experimental result demonstrates that the PD control based on ant colony parameter optimization can effectively suppress the fixed vibration of the flexible arm in a short time. It makes an obvious improvement compared with the conventional PD control. And the suppression effect of rotating vibration is also significant. Thus, it verifies the effectiveness of fast vibration suppression of PD control algorithm based on ant colony parameter optimization. © 2019, Harbin University of Science and Technology Publication. All right reserved.
引用
收藏
页码：129 / 138
页数：9
相关论文
共 16 条
  • [1] Dwivedy S.K., Eberhard P., Dynamic analysis of flexible manipulators, a literature review, Mechanism & Machine Theory, 41, 7, (2006)
  • [2] Mohamed Z., Sayahkarajy M., Fauzi A.A.M., Review of modeling and control of flexible-link manipulators, Proceedings of the Institution of Mechanical Engineers Part i Journal of Systems & Control Engineering, 230, 8, (2016)
  • [3] Chu Z.Y., Cui J., Experiment on vibration control of a two-link flexible manipulator using an input shaper and adaptive positive position feedback, Advances in Mechanical Engineering, 7, 10, (2015)
  • [4] Qiu Z.C., Xu Y.F., Vibration control of a rotating two-connected flexible beam using chattering-free sliding mode controllers, Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering, 230, 3, (2016)
  • [5] Zhu X., Lu M., Zhao X., Et al., 3D-reconstruction algorithm and visualization analysisfor space manipulator vibration shape, Journal of System Simulation, 21, 15, (2009)
  • [6] Yang F., Sedaghati R., Esmailzadeh E., Optimal design of distributed tuned mass dampers for passive vibration control of structures, Structural Control & Health Monitoring, 22, 2, (2015)
  • [7] Zhu K., Yang T., Ruan Q., Et al., Real-time tracking and measuring of moving objects based on binocular vision, Robot, 31, 4, (2009)
  • [8] Dorigo M., Caro G.D., Gambardella L.M., Ant Algorithms for Discrete Optimization, (1999)
  • [9] Xie Y., Li J., Yang Z., Et al., Improved genetic ant colony algorithm and research on motor structure optimization, Electric Machines and Control, 19, 10, (2015)
  • [10] Vaegae N.K., Application of ant colony optimization in tuning a PID controller to a conical tank, Indian Journal of Science & Technology, 8, (2015)
12