Dr K RAMA SUDHA
PROFESSOR
I.INTRODUCTION
FLEXIBLE arm manipulators mainly applied:
space robots, nuclear maintenance, microsurgery,
collision control, contouring control, pattern
recognition, and many others. Surveys of the
literature dealing with applications and challenging
problems related to flexible manipulators may be
found in [1] and [2].
The system, which is partial differential
equations (PDEs), is a distributed-parameter system
of infinite dimensions. It makes difficult to achieve
high- level performance for nonminimum phase
behavior. To deal with the control of flexible
manipulators and the modeling based on a truncated
(finite dimensional) model obtained from either the
206
www.iaetsd.in
207
www.iaetsd.in
ku jm vm c
(2)
n
Where J is the inertia of the motor [in kilograms
square meters], is the viscous friction coefficient
[in Newton meters seconds], and
c is the
coul m
c .sign (m )
coul (m 0)
(3)
And when 0
min(ku, coup )(u 0)
c .sign(u )
max(ku,coup )(u 0)
(4)
208
www.iaetsd.in
by
C. Complete-System Dynamics
kuc Jm vm c
(10)
The controller to be designed will be robust with
respect to the unknown piecewise constant torque
disturbances affecting the motor dynamics. Then
the perturbation-free system to be considered is the
following:
kuc jm vm
(11)
ku Jm vm c
n
c( m t )
(5,6,7)
Equation (5) represents the dynamics of the
flexible beam; (6) expresses the dynamics of the dc
motor; and (7) stands for the coupling torque
measured in the hub and produced by the
translation of the flexible beam, which is directly
proportional to the stiffness of the beam and the
difference between the angles of the motor and the
tip position, restively.
u c ( s) s( s B)
(12)
Fig.3 shows the compensation scheme of the
coupling torque measured in the hub.
The regulation of the load position t(t) to track a
given smooth reference trajectory * t (t ) is desired.
m (s) s 2 2
(8)
2 1/2
Where = (c/(mL )) is the unknown natural
frequency of the bar due to the lack of precise
knowledge of m. as done in [10], the coupling
torque can be canceled in the motor by means of
the a compensation term. In the case, the voltage
applied to the motor is of the form
u uc
k .n
(9)
209
www.iaetsd.in
mL2
t t
c
e t
(13)
System (9) is a second order system in which it
is desired to regulate the tip position of the
flexible bar t , towards a given smooth
c
mL2
(18)
e e d
m
mL2 *
m t
t t *t t
c
*
(14)
Subtracting (10) from (9), we obtain an
expression in terms of the angular tracking
errors:
c
e t
e m e t
mL2
(15)
Where e m m * m t , e t t * t t . For
s 0 *
*m 1
(19)
t t
s2
The tip angular position cannot be measured,
but it certainly can be computed from the
expression relating the tip position with the
motor position and the coupling torque. The
implementation may then be based on the use
of the coupling torque measurement. Denote
the coupling torque by it is known to be
given by:
em et
mL2
K2et K1et K0 et d
c
0
(16)
c m t mL2 n coup
(20)
e e d
m
1
t m
c
(21)
(17)
INTERNATIONAL ASSOCIATION OF ENGINEERING & TECHNOLOGY FOR SKILL DEVELOPMENT
210
www.iaetsd.in
s 3 k 2 s 2 0 1 k1 s 0 k 2 k 0 0 (23)
Identifying each term of the expression (18)
with those of (19), the design parameters
2 , 1 , 0 can be uniquely specified.
2
(s p) 4 s 4 4 ps 3 6 p 2 s 2 4 p 3 s p 4 0
(28)
4
3
2
s ( 3 B ) s ( 3 B 2 A) s 1 As 0 A 0
(29)
Where the parameter p represents the common
location of all the closed-loop poles, this being
strictly positive.
IV. IDENTIFICATION
As explained in the previous section, the
control performance depends on the knowledge of
the parameter . In order to do this task, in this
section, we analyze the identification issue, as
well as the reasons of choosing the algebraic
derivative method as estimator.
Identification
of
continuous-time
system
parameters has been studied from different points
of view. The surveys led by Young in [27] and
Unbehauen and Rao in [29] and [30], respectively,
describe most of the available techniques.
The different approaches are usually classified
into two categories:1) Indirect approaches: An
equivalent discrete-time model to fit the date is
k
e
k
e
k
3 m
2 m
1 e m ( ) d ( )
v
J
0
ev e m
t t
K
K
k 0 (e m ( 2 ))d ( 2 )d ( 1 )
0 0
(24)
the following integral reconstructor for the
angular-velocity error signal e is obtained:
m
K
v
e m ev ( ) d ( ) e m .
J 0
J
(25)
211
www.iaetsd.in
2
oe ne (t )
(30)
t [,)
d e (t ) for
z1 z 2 4t t (t )
z2 2t (t )
z3 z 4
(31)
z4 t 2 ( m (t ) t (t ))
(32)
2
ds 2
ds 2
ds
(34)
Employing the chain rule, we obtain
s2
d 2 ( t )
d
d 2 ( m ) d 2 ( t )
4s t 2 t 2 (
)
2
ds
ds
ds 2
ds 2
(35)
Consequently, in order to avoid multiplications
by positive powers of s, which are translated as
undesirable time derivatives in the time domain,
we multiply the earlier expression by s 2 . After
some rearrangements, we obtain
d 2 ( t )
d
4 s 1 t 2 s 2 t
2
ds
2 ds
2
d ( m ) d 2 (t )
s 2 (
)
ds 2
ds 2
(36)
Let L denote the usual operational calculus
transform acting on exponentially bounded
signals with bounded left support (see[38]).
Recall that
taking
this
into
212
www.iaetsd.in
INTERNATIONAL CONFERENCE
ON CURRENT
INNOVATIONS IN ENGINEERING AND TECHNOLOGY
t
t
[t t (t ) 4 t ( )d 2 t ( )dd
0
0 0
t t
t t
2
( )d d 2 t ( )dd
(37)
The time realization of (37) can be written via
time-variant linear (unstable) filters
d e (t ) z 3
ne (t ) t 2 t (t ) z1
0 0
0 0
z1 z 2 4t t (t )
z2 2t (t )
d f (t ) F ( s)d e (t )
(40)
Where n f (t ) and d f (t ) are the filtered
z3 z 4
z 4 t 2 ( m (t ) t (t ))
2 oe ne (t )
t [,)
d e (t ) for
(38)
2
oe ne (t )
t [,)
d e (t ) for
(41)
213
www.iaetsd.in
(43)
x oe , t t1
(44, 45)
VI. SIMULATIONS
The major problems associated with the control
of flexible structures arise from the structure is
a distributed parameter system with many
modes, and there are likely to be many
actuators [40][44]. We propose to control a
flexible beam whose second mode is far away
from the first one, with the only actuator being
the motor and the only sensors as follows: an
encoder to measure the motor position and a
pair of strain gauges to estimate the tip
position. The problem is that the high modal
densities give rise to the well-known
phenomenon of spillover [45], where
contributions from the unmodeled modes affect
the control of the modes of interest.
Nevertheless, with the simulations as follows,
we demonstrate that the hypothesis proposed
before is valid, and the spillover effect is
negligible. In the simulations, we consider a
saturation in the motor input voltage in a range
of [10, 10] [in volts]. The parameters used in
the simulations are as follows: inertia J = 6.87
105 [kg m2], viscous friction = 1.041
(46) The
*m m
s( s 365)
feedforward term in (27), which depends on the
214
www.iaetsd.in
given by
m * (t )
RESULTS
(48)
1.2
0.8
(49)
0.6
a n g le in ra d
m (t )
0.4
0.2
-0.2
0
0.5
1.5
2.5
time in sec
3.5
4.5
0.9
0.8
0.7
a n g le in r a d
0.6
0.5
0.4
0.3
0.2
0.1
m * m 0.3s 25.7
*
s 30
t t
1 *
t (t ) t * (t ) 4.7.103*t (t ) *t (t ) (51)
2
oi
m * m 2.7 s 17.7
*
s 30
t t
For
0.5
1.5
2.5
time in sec
3.5
4.5
(50)
215
www.iaetsd.in
REFERENCES
-3
x 10
a n g le in ra d
-1
-2
-3
0
0.5
1.5
2.5
time in sec
3.5
4.5
Error
CONCLUSION
A two-stage GPI-controller design scheme
is proposed in connection with a fast online
closed-loop continuous-time estimator of the
natural frequency of a flexible robot. This
methodology only requires the measurement of
the angular positionof the motor and the
coupling torque. Thus, the computation of
angular velocities and bounded derivatives,
which always introduces noise in the system
and makes necessary the use of suitable lowpass filters, is not required. Among the
advantages of this technique, we find the
following advantages: 1) a control robust with
respect to the Coulomb friction; 2) a direct
estimation of the parameters without an
undesired translation between discrete- and
continuous-time domains; and 3) independent
statistical hypothesis of the signal is not
required, so closedloop operation is easier to
implement. This methodology is well suited to
face the important problem of control
degradation in flexible arms as a consequence
of payload changes. Its versatility and easy
implementation make the controller suitable to
be applied in more than 1-DOF flexible beams
by applying the control law to each separated
dynamics which constitute the complete
system. The method proposed establishes the
basis of this original adaptive control to be
applied in more complex problems of flexible
robotics.
216
www.iaetsd.in
217
www.iaetsd.in
218
www.iaetsd.in