Study Of Modeling And Control Of Single Link Flexible Manipulator

In this thesis the response of a single degree flexible link with one fixed end attached on a rotational base of DC servomotor and a point mass at the free end is investigated,where the dynamic model of the system is obtained by applying La Grange-Euler method and La Grange's equations of motions.The control objective in the case of flexible link manipulators is that of achieving desired end effector trajectory tracking and suppressing vibrations of the end effector.Control design of such systems needs accurate dynamic models to obtain the desired performance requirements.Many model-based controllers were developed in the past for flexible link manipulators.The flexibility leads to vibrations on the end effector.The electromechanical model is presented individually with FEM modeling and the optimal control design is synthesized with simulations.The current research is carried out primarily to regulate the major problems encountered in controlling nonlinear flexible link upon applying conventional controllers such as PID and to highlights the capabilities of the optimal control such as the Linear Quadratic Regulator(LQR)controller to improve the link's dynamic response.The simulation results of single link flexible manipulator that consists of mechanical and electrical model is presented to compare the performance of each controller in terms of trajectory tracking and vibration suppression.The finite element analysis simulation has been done with the help of Ansys to get the experimented values.A general-purpose code has been developed in MATLAB to derive the single degree dynamic model of flexible manipulators for numerical simulation and control design.In the dynamic formulation,the principle of least action is used to derive the equations of motion in an absolute coordinate system for general purpose implementation.A modest control strategy which consists of proportional–integral–derivative(PID)control actions is applied for the tip position control and tip deflection compensation.Furthermore,an LQR controller is designed as well and implemented to improve the link's dynamics.The dynamic model validation and performance of model-based controllers are experimentally tested on a single flexible link manipulator.Numerical and experimental results showed that the Evaluation of the outcomes indicates that the LQR controller has improved response in controlling the endeffector with vibrations on it against the PID controller.Results of simulations are presented and discussed to show the efficiency of the LQR against the other conventional controller.Mostly the simulations are performed in MATLAB environment and the results confirm the efficiency of the proposed controller.