Tek eksenli esnek akıllı manipülatörlerin aktif ve pasif titreşim kontrolü

In this thesis, a model extraction approach is proposed for vibration suppression. For this purpose, active (AC) and passive (PC) vibration controls of single-link flexible smart manipulators are studied theoretically and experimentally. To shorten elapsed time in the finite element (FE) analyses, the mathematical models for the state-space (SS) method are extracted from ANSYS. First, the model extraction approach is tested with an analytical solution of a 2-DOF mass-spring system. After validating the results for a lumped parameter system, the SS models of the smart manipulators made of aluminum and composite materials are studied. The SS analyses are performed in MATLAB. The SS results are validated with the open and closed-loop FE simulations performed in ANSYS. The AC and PC are used with the PD and full-state feedback (FSF) controls while the PC can be only implemented to the smart manipulators. The parameters of motion profiles used in the PC are determined based on modal analysis while control design techniques are used to tune the control gains used in the AC. As the closed-loop SS analysis requires a mathematical model, the gains of FSF control are designed with different design criteria based on the settling time, overshoot, and rise time. Experiments are performed with LABVIEW codes to verify the PC and AC results. Experimental modal analysis is done using a chirp signal. Experimental and theoretical residual vibration amplitudes are successfully reduced. The effect of motion time, angular displacement, and payload on the dynamic performance of the smart manipulators are investigated.