The optimal placement of piezoceramic distributed actuators for vibration suppression of a slewing flexible single-link manipulator is considered. Optimisation is performed using the Simulated Annealing algorithm, and an LQR hybrid controller is determined as part of the optimisation procedure. The problem is constrained to the placement of only two piezoceramics, although the algorithm is easily extendable to placement of any number of actuators. Potential solutions are compared using predictions for performance based on simulation results to yield an optimal configuration. Piezoceramic patches are then applied to a physical single-link manipulator setup to investigate and compare the performances of the optimised configurations. The results show that the proposed optimisation approach is practical and implementable on physical structures.
Optimal placement/control of distributed actuators for a slewing flexible manipulator
Optimale Plazierung/Regelung von verteilten Stellgliedern bei einem drehbaren, flexiblen Manipulator
2003
6 Seiten, 5 Bilder, 6 Quellen
Conference paper
English
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