Modelling and active vibration control of flexible manipulator structure

The purpose of this study is to investigate the application of different system identification techniques such as least square (LS), recursive least square (RLS) and neural network (NN) to identify the system model of a flexible manipulator structure and design a Proportional-Integral-Derivative (PI...

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Main Author:	Ng, Geak Kun
Format:	Thesis
Language:	English
Published:	2015
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/53609/1/NgGeakKunMFKM2015.pdf
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id	my-utm-ep.53609
record_format	uketd_dc
spelling	my-utm-ep.536092020-07-22T03:47:41Z Modelling and active vibration control of flexible manipulator structure 2015-09 Ng, Geak Kun TJ Mechanical engineering and machinery The purpose of this study is to investigate the application of different system identification techniques such as least square (LS), recursive least square (RLS) and neural network (NN) to identify the system model of a flexible manipulator structure and design a Proportional-Integral-Derivative (PID) controller for the system to control the angular motion and suppress the end-point vibration. The input-output data for the system identification usage is acquired through the experimental setup of a lab scale experimental rig. After the system is identified using the system identification techniques, the result is verifies using mean square error (MSE). All the results are compared which the NN system identification with NAR model has the smallest MSE value of 1.481×10-04 and RLS system has the smallest MSE value of 1.690×10-04. The transfer function obtained by using RLS and NN are used to develop the control scheme to suppress the vibration and control the angular motion of the flexible manipulator structure. PID controller is proposed to be used in the flexible manipulator system. The controller was tuned heuristically and automatically in Matlab SIMULINK environment. The results show that the PID controller developed with parametric model is better in suppressing the vibration while the PID controller developed with non-parametric model is better in controlling the angular motion of the flexible manipulator. 2015-09 Thesis http://eprints.utm.my/id/eprint/53609/ http://eprints.utm.my/id/eprint/53609/1/NgGeakKunMFKM2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:84502 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 Ng, Geak Kun Modelling and active vibration control of flexible manipulator structure
description	The purpose of this study is to investigate the application of different system identification techniques such as least square (LS), recursive least square (RLS) and neural network (NN) to identify the system model of a flexible manipulator structure and design a Proportional-Integral-Derivative (PID) controller for the system to control the angular motion and suppress the end-point vibration. The input-output data for the system identification usage is acquired through the experimental setup of a lab scale experimental rig. After the system is identified using the system identification techniques, the result is verifies using mean square error (MSE). All the results are compared which the NN system identification with NAR model has the smallest MSE value of 1.481×10-04 and RLS system has the smallest MSE value of 1.690×10-04. The transfer function obtained by using RLS and NN are used to develop the control scheme to suppress the vibration and control the angular motion of the flexible manipulator structure. PID controller is proposed to be used in the flexible manipulator system. The controller was tuned heuristically and automatically in Matlab SIMULINK environment. The results show that the PID controller developed with parametric model is better in suppressing the vibration while the PID controller developed with non-parametric model is better in controlling the angular motion of the flexible manipulator.
format	Thesis
qualification_level	Master's degree
author	Ng, Geak Kun
author_facet	Ng, Geak Kun
author_sort	Ng, Geak Kun
title	Modelling and active vibration control of flexible manipulator structure
title_short	Modelling and active vibration control of flexible manipulator structure
title_full	Modelling and active vibration control of flexible manipulator structure
title_fullStr	Modelling and active vibration control of flexible manipulator structure
title_full_unstemmed	Modelling and active vibration control of flexible manipulator structure
title_sort	modelling and active vibration control of flexible manipulator structure
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2015
url	http://eprints.utm.my/id/eprint/53609/1/NgGeakKunMFKM2015.pdf
_version_	1747817593538871296

Modelling and active vibration control of flexible manipulator structure

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