Experimental Study on Nonlinear Vibration Control of an L-shape Arm

In this paper, an experimental system is set up to control the vibration of an L-type arm which is driven by linear motor. Firstly, the vibration dynamics of the L-sh ape arm is modelled based on Euler-Bernoulli beam theory, the relation between motor motion and arm vibration is investigated. Secondly, based on nonlinear operator control theory, two nonlinear control schemes are designed to control the motion of the motor and suppress the vibration of arm by using piezoelectric actuator, respectively. The vibration of arm is considered when controlling the motor. A tracking compensator is designed to eliminate the hysteresis effect of the piezoelectric actuator. Finally, by using two piezoelectric sensors to measure the transverse displacement and one piezoelectric actuator to suppress the vibration of arm, the experimental system is set up, and some experiments are conducted to verify the effectiveness of the proposed control scheme.