Vibration Control Of Flexible Manipulator

Active vibration control of a flexible structure have increasing received a great deal of attention in many industrial applications. This thesis focuses on investigation of control methods for vibration control of a flexible manipulator. It starts with a brief survey of the state-of-arts on active vibration control of flexible structures. A linear time-invariable dynamic model of a single-link rotating flexible manipulator is first derived. This pares the way for an integrative process to suppress transient vibration and obtain precise target tracking by using linear quadratic optimal control and integration separation PID control algorithm respectively. Computer simulations are performed to evaluate the behavior of two control schemes. Results from the simulation demonstrate that it is important to select proper weighing matrices in using linear quadratic optimal control. Moreover, the control performance based on integration separation PID control is superior to traditional PID control. The results may be used to provide a basis for vibration control experiments and applications of a flexible manipulator.