Active Predictive Control Applied to Suppress Dynamic Vibration Responses of Elastic Linkage Mechanisms With Piezoelectric Actuators and Sensors

An approach for suppressing elastic vibration responses of high-speed elastic linkage mechanisms with piezoelectric actuators and sensors was proposed using the active predictive control strategy. Based on the time-varying dynamic differential equation of a linkage mechanism, the discrete time state space equation was established, and the prediction model was formulated explicitly to express the dynamic responses of the mechanism. The weighted difference between predictive outputs and desired outputs was as the objective function, and the minimization of control energy was as the constraint condition. The model predictive control algorithm with real-time error prediction estimation was employed to suppress the dynamic vibration of the mechanism. The simulation results of the proposed method indicated that applying the simple predictive model of the controlled mechanism, the active prediction controller could be designed to suppress elastic vibration responses of linkage mechanisms efficiently, and meet the real-time demand of the system control.