Abstract:
A vibration frequency estimator based on moving-window discrete Fourier transform
(MWDFT) integrated with frequency locked loop (FLL) is proposed for the
vibration mode estimation of single-link
exible manipulator (SLFM). A MWDFT
exhibits tuned lter frequency response characteristics and this lter is considered
as a digital system with negative feedback loop to track the tip de
ection signal.
The bandwidth of the MWDFT increases by the introduction of negative
feedback. To estimate the frequency of the tip de
ection signal, a FLL is designed
with MWDFT-feedback loop. The frequency error was exploited to achieve
synchronization between in-phase component of MWDFT and input signal. The
existing frequency estimators and the FLL based on MWDFT are implemented
on SLFM for the estimation of tip de
ection signal amplitude and frequency.
An LQR controller is designed to control the tip de
ection of SLFM which e -
ciently suppresses the tip de
ection vibration.
