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Volume 12, Issue 3
Vibration Control for Flexible Spacecraft Using Multi-Impulse Robust Input Shaper and Optimal Control Method

Yanfeng Du, Cong Wang, Yan Zhou & Juncheng Lu

Adv. Appl. Math. Mech., 12 (2020), pp. 797-814.

Published online: 2020-04

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  • Abstract

Lightweight and flexible structures are often used in the engineering field which may produce the long time residual vibration of flexible appendages. In order to reduce the residual vibration of the flexible manipulator, a control method of combining the multi-impulse robust shaper with the linear quadratic regulator controller is put forward in this paper. The Lagrange equation and assumed mode method are used to obtain the dynamic equation of the manipulator. Then the dynamic equation is rewritten in state space, and the state equation of the closed-loop system is obtained after the optimal control is used. The multi-impulse robust shaper is designed according to the system frequency and damping ratio and is used to shape the required angle. The input torque is obtained by the linear quadratic regulator controller. The proposed combination controller is compared with the combination controller of ZVD shaper and the optimal control method, the combination controller of the EI shaper and the optimal control method, and optimal controller. The robustness of the proposed controller is then investigated. The simulation results show that the proposed combination controller has a better advantage in suppressing residual vibration than other controllers and has a good performance in the robustness of natural frequency.

  • Keywords

Flexible manipulator, combination controller, multi-impulse robust shaper, optimal control method, residual vibration suppression.

  • AMS Subject Headings

65C20, 65M12, 70J50, 70Q05, 74H45

  • Copyright

COPYRIGHT: © Global Science Press

  • Email address

duyanfeng hit@163.com (Yanfeng Du)

  • BibTex
  • RIS
  • TXT
@Article{AAMM-12-797, author = {Yanfeng and Du and duyanfeng hit@163.com and 7328 and School of Astronautics, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China and Yanfeng Du and Cong and Wang and and 7329 and School of Astronautics, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China and Cong Wang and Yan and Zhou and and 7330 and School of Astronautics, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China and Yan Zhou and Juncheng and Lu and and 7331 and School of Astronautics, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China and Juncheng Lu}, title = {Vibration Control for Flexible Spacecraft Using Multi-Impulse Robust Input Shaper and Optimal Control Method}, journal = {Advances in Applied Mathematics and Mechanics}, year = {2020}, volume = {12}, number = {3}, pages = {797--814}, abstract = {

Lightweight and flexible structures are often used in the engineering field which may produce the long time residual vibration of flexible appendages. In order to reduce the residual vibration of the flexible manipulator, a control method of combining the multi-impulse robust shaper with the linear quadratic regulator controller is put forward in this paper. The Lagrange equation and assumed mode method are used to obtain the dynamic equation of the manipulator. Then the dynamic equation is rewritten in state space, and the state equation of the closed-loop system is obtained after the optimal control is used. The multi-impulse robust shaper is designed according to the system frequency and damping ratio and is used to shape the required angle. The input torque is obtained by the linear quadratic regulator controller. The proposed combination controller is compared with the combination controller of ZVD shaper and the optimal control method, the combination controller of the EI shaper and the optimal control method, and optimal controller. The robustness of the proposed controller is then investigated. The simulation results show that the proposed combination controller has a better advantage in suppressing residual vibration than other controllers and has a good performance in the robustness of natural frequency.

}, issn = {2075-1354}, doi = {https://doi.org/10.4208/aamm.OA-2019-0055}, url = {http://global-sci.org/intro/article_detail/aamm/16424.html} }
TY - JOUR T1 - Vibration Control for Flexible Spacecraft Using Multi-Impulse Robust Input Shaper and Optimal Control Method AU - Du , Yanfeng AU - Wang , Cong AU - Zhou , Yan AU - Lu , Juncheng JO - Advances in Applied Mathematics and Mechanics VL - 3 SP - 797 EP - 814 PY - 2020 DA - 2020/04 SN - 12 DO - http://doi.org/10.4208/aamm.OA-2019-0055 UR - https://global-sci.org/intro/article_detail/aamm/16424.html KW - Flexible manipulator, combination controller, multi-impulse robust shaper, optimal control method, residual vibration suppression. AB -

Lightweight and flexible structures are often used in the engineering field which may produce the long time residual vibration of flexible appendages. In order to reduce the residual vibration of the flexible manipulator, a control method of combining the multi-impulse robust shaper with the linear quadratic regulator controller is put forward in this paper. The Lagrange equation and assumed mode method are used to obtain the dynamic equation of the manipulator. Then the dynamic equation is rewritten in state space, and the state equation of the closed-loop system is obtained after the optimal control is used. The multi-impulse robust shaper is designed according to the system frequency and damping ratio and is used to shape the required angle. The input torque is obtained by the linear quadratic regulator controller. The proposed combination controller is compared with the combination controller of ZVD shaper and the optimal control method, the combination controller of the EI shaper and the optimal control method, and optimal controller. The robustness of the proposed controller is then investigated. The simulation results show that the proposed combination controller has a better advantage in suppressing residual vibration than other controllers and has a good performance in the robustness of natural frequency.

Yanfeng Du, Cong Wang, Yan Zhou & Juncheng Lu. (2020). Vibration Control for Flexible Spacecraft Using Multi-Impulse Robust Input Shaper and Optimal Control Method. Advances in Applied Mathematics and Mechanics. 12 (3). 797-814. doi:10.4208/aamm.OA-2019-0055
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