ARMAX Model Identification And Active Vibration Suppression Of A Piezoelectric Flexible Manipulator

In the fields of aerospace,robotics,civil engineering and other industries,flexible structures are prevailing due to their advantages in lightweight and lower energy consumption.However,flexible structures are exhibiting the inherent property of vibration in presence of external disturbances,which leads to a deterioration of positioning accuracy and stability.So it is meaningful to research about the flexible structure's system modeling and vibration control strategy.Therefore,the piezoelectric flexible manipulator has been taken as the research object,as well as the system modeling and vibration control strategy.The hardware system and the software system(NI-LabVIEW)has been built,which can meet the measurement and control goal.The flexible manipulator is a cantilever beam,and the chirp and other signal you want to output in software system.The experimental data was obtained by chirp experiment,and according to the experimental data,the identification model has been obtained which basing on ARMAX model,and a fit of 97.2% is achieved.A balanced reduction method is employed to obtain a reduced order model.The balanced reduction method can preserve the controllability,observability and stability of the reduced order system and it is especially applicable to modal intensive flexible manipulator system.The coincidence between the reduced model and the actual system is verified through a multifrequency excitation test.Then,based on the linear quadratic(LQ)control,an optimal pole shifting control is proposed to control the vibration.The essence of this method is that the weighting matrixes,it defines in an inversion point,by moving the dominant poles of the system in desired location.It is a simple and effective way to solve the selection of the state and control weighting matrices,and avoid solving the Riccati equation.It has obvious physical engineering significance.Through the numerical simulation and experimental,the algorithm can effectively restrain the elastic vibration,improve the positioning accuracy,and shows that the control algorithm is effective in vibration control.