Intelligent modelling and active vibration control of flexible manipulator
The purpose of this study is to investigate the application of Least Square(LS), Recursive Least Square (RLS), and Neural Network to estimate the identification of flexible beam structure and development a (Proportional-Integral-Derivative) PID controller for the system. The input and output data us...
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2014
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| 在線閱讀: | http://eprints.utm.my/id/eprint/50744/25/MohsenGolZardianMFKM2014.pdf |
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my-utm-ep.507442020-07-12T01:30:05Z Intelligent modelling and active vibration control of flexible manipulator 2014-06 Gol Zardian, Mohsen TJ Mechanical engineering and machinery The purpose of this study is to investigate the application of Least Square(LS), Recursive Least Square (RLS), and Neural Network to estimate the identification of flexible beam structure and development a (Proportional-Integral-Derivative) PID controller for the system. The input and output data used for system identification process were obtained from experimental setup. The performance of system identification used, Lest Squares (LS), Recursive Least Squares (RLS), and Neural Network (NN) were verified using Mean Square Error (MSE) technique.Comparative assessment was conducted to compare all the result obtained and the best transfer function was obtained from RLS system identification approach with smallest MSE value of 8.182×10-08. The transfer function has been used to help the development of control system to suppress unwanted vibration of the flexible manipulator system. In this study, a PID controller has been proposed to use for the vibration suppression. This controller was tuned by using heuristic tuning in Matlab SIMULINK simulation environment. 2014-06 Thesis http://eprints.utm.my/id/eprint/50744/ http://eprints.utm.my/id/eprint/50744/25/MohsenGolZardianMFKM2014.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:90549 masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering |
| institution |
Universiti Teknologi Malaysia |
| collection |
UTM Institutional Repository |
| language |
English |
| topic |
TJ Mechanical engineering and machinery |
| spellingShingle |
TJ Mechanical engineering and machinery Gol Zardian, Mohsen Intelligent modelling and active vibration control of flexible manipulator |
| description |
The purpose of this study is to investigate the application of Least Square(LS), Recursive Least Square (RLS), and Neural Network to estimate the identification of flexible beam structure and development a (Proportional-Integral-Derivative) PID controller for the system. The input and output data used for system identification process were obtained from experimental setup. The performance of system identification used, Lest Squares (LS), Recursive Least Squares (RLS), and Neural Network (NN) were verified using Mean Square Error (MSE) technique.Comparative assessment was conducted to compare all the result obtained and the best transfer function was obtained from RLS system identification approach with smallest MSE value of 8.182×10-08. The transfer function has been used to help the development of control system to suppress unwanted vibration of the flexible manipulator system. In this study, a PID controller has been proposed to use for the vibration suppression. This controller was tuned by using heuristic tuning in Matlab SIMULINK simulation environment. |
| format |
Thesis |
| qualification_level |
Master's degree |
| author |
Gol Zardian, Mohsen |
| author_facet |
Gol Zardian, Mohsen |
| author_sort |
Gol Zardian, Mohsen |
| title |
Intelligent modelling and active vibration control of flexible manipulator |
| title_short |
Intelligent modelling and active vibration control of flexible manipulator |
| title_full |
Intelligent modelling and active vibration control of flexible manipulator |
| title_fullStr |
Intelligent modelling and active vibration control of flexible manipulator |
| title_full_unstemmed |
Intelligent modelling and active vibration control of flexible manipulator |
| title_sort |
intelligent modelling and active vibration control of flexible manipulator |
| granting_institution |
Universiti Teknologi Malaysia, Faculty of Mechanical Engineering |
| granting_department |
Faculty of Mechanical Engineering |
| publishDate |
2014 |
| url |
http://eprints.utm.my/id/eprint/50744/25/MohsenGolZardianMFKM2014.pdf |
| _version_ |
1747817525875310592 |