Modelling and control of a two-link flexible manipulator using finite element modal analysis

This thesis focuses on Finite Element (FE) modeling and robust control of a two-link flexible manipulator based on a high resolution FE model and the system vibration modes. A new FE model is derived using Euler-Bernoulli beam elements, and the model is validated using commercial software Abaqus CAE...

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Main Author:	Sayahkarajy, Mostafa
Format:	Thesis
Language:	English
Published:	2014
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/81803/1/MostafaSayahkarajyPFKE2014.pdf
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id	my-utm-ep.81803
record_format	uketd_dc
spelling	my-utm-ep.818032019-09-24T09:36:56Z Modelling and control of a two-link flexible manipulator using finite element modal analysis 2014 Sayahkarajy, Mostafa TK Electrical engineering. Electronics Nuclear engineering This thesis focuses on Finite Element (FE) modeling and robust control of a two-link flexible manipulator based on a high resolution FE model and the system vibration modes. A new FE model is derived using Euler-Bernoulli beam elements, and the model is validated using commercial software Abaqus CAE. The frequency and time domain analysis reveal that the response of the FE model substantially varies with changing the number of elements, unless a high number of elements (100 elements in this work) is used. The gap between the complexity of the high order FE model capable of predicting dynamics of the multibody system, and suitability of the model for controller design is bridged by designing control schemes based on the reduced order models obtained using modal truncation/H8 techniques. Two reduced order multi-input multi-output modal control algorithms composed of a robust feedback controller along with a feed-forward compensator are designed. The first controller, Inversion-based Two Mode Controller (ITMC), is designed using a mixed-sensitivity H8 synthesis and a modal inversion-based compensator. The second controller, Shaping Two-Mode Controller (STMC), is designed with H8 loopshaping using the modal characteristics of the system. Stability robustness against unmodelled dynamics due to the model reduction is shown using the small gain theorem. Performance of the feedback controllers are compared with Linear Quadratic Gaussian designs and are shown to have better tracking characteristics. Effectiveness of the control schemes is shown by simulation of rest-to-rest maneuver of the manipulator to a set of desired points in the joint space. The ITMC is shown to have more precise tracking performance, while STMC has higher control over vibration of the tip, at the expense of more tracking errors. 2014 Thesis http://eprints.utm.my/id/eprint/81803/ http://eprints.utm.my/id/eprint/81803/1/MostafaSayahkarajyPFKE2014.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:126143 phd doctoral Universiti Teknologi Malaysia Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Sayahkarajy, Mostafa Modelling and control of a two-link flexible manipulator using finite element modal analysis
description	This thesis focuses on Finite Element (FE) modeling and robust control of a two-link flexible manipulator based on a high resolution FE model and the system vibration modes. A new FE model is derived using Euler-Bernoulli beam elements, and the model is validated using commercial software Abaqus CAE. The frequency and time domain analysis reveal that the response of the FE model substantially varies with changing the number of elements, unless a high number of elements (100 elements in this work) is used. The gap between the complexity of the high order FE model capable of predicting dynamics of the multibody system, and suitability of the model for controller design is bridged by designing control schemes based on the reduced order models obtained using modal truncation/H8 techniques. Two reduced order multi-input multi-output modal control algorithms composed of a robust feedback controller along with a feed-forward compensator are designed. The first controller, Inversion-based Two Mode Controller (ITMC), is designed using a mixed-sensitivity H8 synthesis and a modal inversion-based compensator. The second controller, Shaping Two-Mode Controller (STMC), is designed with H8 loopshaping using the modal characteristics of the system. Stability robustness against unmodelled dynamics due to the model reduction is shown using the small gain theorem. Performance of the feedback controllers are compared with Linear Quadratic Gaussian designs and are shown to have better tracking characteristics. Effectiveness of the control schemes is shown by simulation of rest-to-rest maneuver of the manipulator to a set of desired points in the joint space. The ITMC is shown to have more precise tracking performance, while STMC has higher control over vibration of the tip, at the expense of more tracking errors.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Sayahkarajy, Mostafa
author_facet	Sayahkarajy, Mostafa
author_sort	Sayahkarajy, Mostafa
title	Modelling and control of a two-link flexible manipulator using finite element modal analysis
title_short	Modelling and control of a two-link flexible manipulator using finite element modal analysis
title_full	Modelling and control of a two-link flexible manipulator using finite element modal analysis
title_fullStr	Modelling and control of a two-link flexible manipulator using finite element modal analysis
title_full_unstemmed	Modelling and control of a two-link flexible manipulator using finite element modal analysis
title_sort	modelling and control of a two-link flexible manipulator using finite element modal analysis
granting_institution	Universiti Teknologi Malaysia
granting_department	Electrical Engineering
publishDate	2014
url	http://eprints.utm.my/id/eprint/81803/1/MostafaSayahkarajyPFKE2014.pdf
_version_	1747818417948196864

Modelling and control of a two-link flexible manipulator using finite element modal analysis

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