Scholarlink

<p>The performance of a flexible manipulator with elastic joints (FMEJ) is influenced by friction torque and dynamic parameter variations when handling objects of different weights. The friction torque, dynamic parameters perturbation, and flexibility factors of manipulators will cause fluctuations in the output speed. Such speed fluctuations will aggravate the vibration of end effectors, thereby affecting the FMEJ control accuracy. In this study, the fuzzy tuning PI control strategy with the fractional-order disturbance observer (FTPI + FODOB) is proposed to control the FMEJ output speed. This paper proposes a novel disturbance observer design methodology that guarantees system stability against three critical perturbations: external disturbances, variations in controller parameters, and dynamic parameter fluctuations of the controlled object. By applying Lagrange’s equations, the FMEJ dynamic model with higher modeling accuracy is formulated, accounting for both friction torque and nonlinear deformation. To optimize control performance, the pole placement method is employed to determine the parameter range of the fuzzy tuning PI (FTPI) controller. Additionally, the parameters of the fractional-order disturbance observer (FODOB) are designed to ensure system stability under dynamic parameter perturbations and friction torque effects. Simulation and speed control experiments are conducted to validate the proposed FTPI + FODOB strategy. Experimental results demonstrate that this strategy effectively mitigates the influence of friction torque and parameter perturbations on output speed.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Dynamic modeling and speed control for flexible manipulator with elastic joint based on fractional-order disturbance observer

  • 期刊论文

  • 发表日期：

    2025年8月8日

查看全文
  • Dongyang Shang,
  • Xing Fan,
  • Meng Yin,
  • Xiaopeng Li

摘要

The performance of a flexible manipulator with elastic joints (FMEJ) is influenced by friction torque and dynamic parameter variations when handling objects of different weights. The friction torque, dynamic parameters perturbation, and flexibility factors of manipulators will cause fluctuations in the output speed. Such speed fluctuations will aggravate the vibration of end effectors, thereby affecting the FMEJ control accuracy. In this study, the fuzzy tuning PI control strategy with the fractional-order disturbance observer (FTPI + FODOB) is proposed to control the FMEJ output speed. This paper proposes a novel disturbance observer design methodology that guarantees system stability against three critical perturbations: external disturbances, variations in controller parameters, and dynamic parameter fluctuations of the controlled object. By applying Lagrange’s equations, the FMEJ dynamic model with higher modeling accuracy is formulated, accounting for both friction torque and nonlinear deformation. To optimize control performance, the pole placement method is employed to determine the parameter range of the fuzzy tuning PI (FTPI) controller. Additionally, the parameters of the fractional-order disturbance observer (FODOB) are designed to ensure system stability under dynamic parameter perturbations and friction torque effects. Simulation and speed control experiments are conducted to validate the proposed FTPI + FODOB strategy. Experimental results demonstrate that this strategy effectively mitigates the influence of friction torque and parameter perturbations on output speed.