Designing of input shaping using artificial intelligent techniques for flexible systems

In comparison with the use of rigid and heavy systems, the use of flexible and lightweight systems provides advantages such as high operating speeds, reduced electricity consumption and reduced initial investment costs of production as well as many others. However, flexible systems are dynamic systems, and as a result of their movement, there is now a great deal of residual vibration. This residual vibration is generally attempted to be suppressed by open loop or closed loop control techniques. Within the scope of this study, input shaping techniques have been designed and experimental applications have been performed based on open loop control systems aiming at reducing or eliminating residual vibration in such flexible systems. In addition, a Fuzzy Logic based Decision Support System is designed to select the appropriate input shaping technique to minimize the large amplitude residual vibrations in dynamic operating conditions. It has been seen that the designed system has been successful in minimizing the large amplitude vibrations. For situations where open loop applications are insufficient in system response, an LQR controller design has been made from closed loop control systems. With the help of mathematical model obtained by Euler-Lagrange equations, the state space model of the system is created in MATLAB/Simulink. Then, the pre-design LQR controller gain matrix is optimized with the Bees algorithm. The design of the LQR controller is intended to provide motor position and movements with minimum deviation of the end point of the flexible limb in controller design. In order to investigate the success of the proposed method, the system performance was compared with similar studies in the literature. The results are presented in graphical form and detailed assessment is made. As a result, the proposed method has been confirmed by experimental verification and it is predicted that it can be a useful controller design approach for different engineering systems and different controller designs. In addition, some advises are also provided for the selection of appropriate controllers for flexible system in application of the open loop and closed loop cases as well as selection of control systems. The successful performance of the proposed methods and their applicability in real systems has been verified by the Quanser gantry crane and flexible link systems.