Research of the Active Vibration Suppression of Flexible Manipulator with One Degree-of-Freedom

A flexible manipulator with concentrated mass at its end is simplified to be a Bernoulli-Euler beam module in this paper. The oscillatory differential equation and system decoupling equation of the one DOF flexible manipulator is deduced according to the module simplified from practical engineering. And then, based on the establishment of dynamic model, we get the state of space expression through the Lagrange equation. Take the first order modal parameters of the flexible manipulator to track the angular displacement of the manipulator and the deflection of its end. According to the established state space expression, a comparison is done between the PD controller and the integral separation PID controller in the active control of flexible manipulator through simulation in Simulink. Result shows that the integral separation PID controller has obvious advantage than the PD controller in the control of flexible manipulator. The former is better to quickly arrive at the specified position and both its static error and overshoot are smaller.