Vibration Control of A Four-Axis Flexible Arm by Command Shaping Integrated with Acceleration Feedback

• Main Author: 陳郁銘
• Other Authors: WU, SHANG-TEH
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/f6z99t

碩士 === 國立雲林科技大學 === 機械工程系 === 107 === This thesis investigates the position and vibration control of a four-axis flexible arm. The flexible arm consists of three DC servo motors and is mounted on a ball-screw table driven by an AC motor. The three DC motors are used to adjust the different postures of the arm, and the AC motor table controls the movement of the arm. The vibration control is divided into three parts: the first part is to use the accelerometer attached to the end of the flexible arm, the second part is by input command shaping, and the third part is by command shaping integrated with acceleration feedback. For the acceleration feedback control, the phase between the acceleration output and the control force input for the first and the second vibration modes is firstly found. The phase is then adjusted by using two second-order band pass filters connected in series. The command shaping method can effectively reduce the vibration of the first mode by adjusting the steps of motion of the table. The experimental results show that the acceleration feedback can reduce settling time from 3.3 seconds to 0.59 seconds, command shaping alone can reduce settling time to 0.78 seconds, and combination of the two methods can reduce settling time to 0.4 seconds.