Adaptive Vibration Suppression Control for Direct-Drive Flexible Manipulators Based on PMSM Self-Sensing

In flexible manipulator systems driven directly by permanent magnet synchronous motors (PMSM), residual vibration following servo positioning has a detrimental effect on the precision and efficiency of industrial operations. This study proposes an adaptive vibration suppression control strategy based on PMSM self-sensing, which is founded upon the dynamics model of direct-drive flexible manipulators. This strategy permits the estimation of vibration frequency and damping coefficient without the necessity for supplementary vibration sensors and fast Fourier transform (FFT). The parameters of the input shaper are dynamically adjusted by means of adaptive frequency and damping coefficient identification. Simulation results verify the effectiveness of the proposed control method.