A Fuzzy PID Approach for the Vibration Control of the FSPM

[摘要] This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The research object is a 40m scale model of the Feed Support System (FSS) for the Five-hundred-meter Aperture Spherical radio Telescope (FAST) project, which is composed of a cable-driven parallel manipulator, an A-B rotator and a rigid Stewart manipulator, assembled in series. The cable-driven parallel manipulator is sensitive to disturbances and could lead to system vibration with a large terminal error. The rigid Stewart manipulator is designed to carry out the vibration control. Considering the time-variability, nonlinearity and dynamic coupling of an FSPM, a fuzzy proportional–integral–derivative (PID) controller is introduced. The fuzzy inferenc...

[学科分类] 自动化工程

[关键词] Stewart Manipulator;Flexibly Supported;Fuzzy PID;Vibration Control