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Nonlinear Vibration Control Experimental System Design of a Flexible Arm Using Interactive Actuations from Shape

Ximei Li1, Guang Jin1, Mingcong Deng1

  • 1The Graduate School of Engineering, Tokyo University of Agriculture and Technology, Tokyo 183-8538, Japan.

Sensors (Basel, Switzerland)
|February 11, 2023
PubMed
Summary

This study introduces a novel nonlinear vibration control system for flexible arms using shape memory alloy (SMA) interactive actuation. The proposed method significantly reduces vibration displacement faster and more efficiently than traditional controllers.

Keywords:
interactive actuationnonlinear vibration controloperator theoryrobust right coprime factorizationshape memory alloy

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Area of Science:

  • Robotics and Control Systems
  • Materials Science
  • Mechanical Engineering

Background:

  • Flexible arms are prone to vibrations due to thin structures, impacting operational accuracy.
  • Vibration suppression is crucial for enhancing the performance of flexible arm systems.
  • Smart materials, particularly shape memory alloys (SMAs), offer potential for vibration control due to their unique properties.

Purpose of the Study:

  • To design and experimentally validate a nonlinear vibration control system for a flexible arm using interactive actuation from shape memory alloy (SMA).
  • To investigate the effectiveness of an integrated control strategy combining an operator-based controller, an integral compensator, and an n-times feedback loop.
  • To compare the proposed control method's performance against a conventional proportional-derivative (PD) controller.

Main Methods:

  • Development of an experimental system featuring an interactive actuator-sensor-controller combination with SMA.
  • Implementation of a vibration suppression strategy integrating an operator-based nonlinear vibration controller, an integral compensator with an estimation mechanism, and an n-times feedback loop.
  • Experimental validation through three distinct cases to assess vibration reduction and tracking performance.

Main Results:

  • The integrated control system significantly reduced vibration displacement compared to using the controller alone.
  • Increasing the n-times feedback loop enhanced tracking performance, approaching optimal control as n tended to infinity.
  • The proposed method stabilized vibration displacement within 4 waveforms, outperforming the conventional PD controller (7 waveforms).
  • The experimental results demonstrated faster vibration reduction and lower input power requirements compared to traditional methods.

Conclusions:

  • The proposed interactive actuation vibration control approach using SMA is effective and superior to conventional methods.
  • The integrated control strategy offers robust stability and optimal vibration reduction for flexible arms.
  • This research provides a practical and efficient solution for suppressing vibrations in flexible arm systems.