Vibration Suppression of Flexible Manipulator Driven by PMLM Based on SO-LADRC

This paper proposes a closed-loop control method based on a second-order linear active disturbance rejection control (SO-LADRC) to reduce the vibration of flexible manipulators during movement. Based on the dynamic model of the flexible manipulator, the relationship between the vibration deflection and the electromagnetic thrust of the permanent magnet linear machine (PMLM) is established. The vibration deflection can be converted into a current compensation term, and the vibration can be suppressed in the current loop by designing the SO-LADRC controller. Moreover, the nonlinear disturbances of PMLM are modeled and the effects on the vibration of the flexible manipulator are analyzed. Based on it, the nonlinear disturbances of the PMLM are compensated by designing a position loop SO-LADRC. Finally, the proposed method is compared with the traditional feedforward input shaping control through simulations and experiments. The results indicate that the proposed method can achieve excellent vibration suppression effect and enhance the positioning accuracy and dynamic performance of the PMLM driven flexible manipulator system.