Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System

In this paper, an X-Y position stage simulates flexible loads completing handling or detection tasks in industrial applications are studied. The platform is driven by permanent magnet synchronous motors (PMSM) servo system, which has flexible beams with different natural vibration frequencies on the...

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Autores principales:	Yongping Sun, Ming Yang, Yangyang Chen, Dianguo Xu
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Flexible load vibration suppression trajectory planning tracking error iterative learning control Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/b1b4c9d77fc947518d738f6fb8aa7024
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spelling	oai:doaj.org-article:b1b4c9d77fc947518d738f6fb8aa70242021-12-02T00:00:32ZTrajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System2169-353610.1109/ACCESS.2021.3128180https://doaj.org/article/b1b4c9d77fc947518d738f6fb8aa70242021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9615062/https://doaj.org/toc/2169-3536In this paper, an X-Y position stage simulates flexible loads completing handling or detection tasks in industrial applications are studied. The platform is driven by permanent magnet synchronous motors (PMSM) servo system, which has flexible beams with different natural vibration frequencies on the X-axis and Y-axis. The controller is designed to suppress the vibration of the flexible beams with different frequencies and reducing the contour error. The Euler-Bernoulli beam theory is adopted to obtain the mode shapes and natural frequencies of the flexible beam with clamped and endpoint mass boundary conditions. Analysis shows that the first-order vibration mode contributes the most to the displacement of the flexible beam. The trajectory motion profile based on time-shifted cosine jerk central angle interpolation (CJCI) contains prefilter to suppress low vibration frequencies in the two beams, which does not cause distortion of the actual contour. The linear phase lead iterative learning control (ILC) combined with the contour of CJCI is proposed to reduce the tracking errors of each axis, thereby reducing the overall contour error. The analysis and design process of ILC in frequency domains, which is applied to alleviate noise and disturbance effects. Comparison experiments confirm the effectiveness of the proposed method.Yongping SunMing YangYangyang ChenDianguo XuIEEEarticleFlexible load vibration suppressiontrajectory planningtracking erroriterative learning controlElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 156717-156728 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Flexible load vibration suppression trajectory planning tracking error iterative learning control Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Flexible load vibration suppression trajectory planning tracking error iterative learning control Electrical engineering. Electronics. Nuclear engineering TK1-9971 Yongping Sun Ming Yang Yangyang Chen Dianguo Xu Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System
description	In this paper, an X-Y position stage simulates flexible loads completing handling or detection tasks in industrial applications are studied. The platform is driven by permanent magnet synchronous motors (PMSM) servo system, which has flexible beams with different natural vibration frequencies on the X-axis and Y-axis. The controller is designed to suppress the vibration of the flexible beams with different frequencies and reducing the contour error. The Euler-Bernoulli beam theory is adopted to obtain the mode shapes and natural frequencies of the flexible beam with clamped and endpoint mass boundary conditions. Analysis shows that the first-order vibration mode contributes the most to the displacement of the flexible beam. The trajectory motion profile based on time-shifted cosine jerk central angle interpolation (CJCI) contains prefilter to suppress low vibration frequencies in the two beams, which does not cause distortion of the actual contour. The linear phase lead iterative learning control (ILC) combined with the contour of CJCI is proposed to reduce the tracking errors of each axis, thereby reducing the overall contour error. The analysis and design process of ILC in frequency domains, which is applied to alleviate noise and disturbance effects. Comparison experiments confirm the effectiveness of the proposed method.
format	article
author	Yongping Sun Ming Yang Yangyang Chen Dianguo Xu
author_facet	Yongping Sun Ming Yang Yangyang Chen Dianguo Xu
author_sort	Yongping Sun
title	Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System
title_short	Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System
title_full	Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System
title_fullStr	Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System
title_full_unstemmed	Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System
title_sort	trajectory tracking and vibration control of flexible beams in multi-axis system
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/b1b4c9d77fc947518d738f6fb8aa7024
work_keys_str_mv	AT yongpingsun trajectorytrackingandvibrationcontrolofflexiblebeamsinmultiaxissystem AT mingyang trajectorytrackingandvibrationcontrolofflexiblebeamsinmultiaxissystem AT yangyangchen trajectorytrackingandvibrationcontrolofflexiblebeamsinmultiaxissystem AT dianguoxu trajectorytrackingandvibrationcontrolofflexiblebeamsinmultiaxissystem
_version_	1718404008155021312

Trajectory Tracking and Vibration Control of Flexible Beams in Multi-Axis System

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