Noor Hazreen, Sutomoh (2009) The development of embedded band-stop filter for vibration control of a flexible manipulator. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang.
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Abstract
This project presents an investigation into development of feed forward control scheme for vibration control of a flexible manipulator using band-stop (IIR) filter technique using Xilinx (Spartan 3E) . A constrained planar single-link flexible manipulator is considered in this project and the dynamic model of the system is derived using assumed mode method. A bang-band torque input signal is used to determine the characteristic parameters for designed and evaluate for vibration control technique. The band-stop filter algorithm is designed with sampling frequency of 1000 Hz and cut off frequency between 10 Hz to 300 Hz. After that, it is embedded in Field Programmable Gate Array board using Xilinx software. This algorithm is then applied to the flexible manipulator in the Simulink through PCI 1710 HG DAQ Card. The experimental results presented in time and frequency domain. The effects of the filter order in band-stop performance are also investigated. Finally, a simulation of band-stop filter is compared to the embedded filter onto FPGA board.
| Item Type: | Undergraduates Project Papers |
|---|---|
| Additional Information: | Project paper (Bachelor of Electrical Engineering (Electronics) -- Universiti Malaysia Pahang - 2009, SV: MOHD ASHRAF BIN AHMAD. |
| Uncontrolled Keywords: | Feed forward control systems; Manipulators (Mechanism) Automatic control |
| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Ms. Nurezzatul Akmal Salleh |
| Date Deposited: | 26 Sep 2016 06:19 |
| Last Modified: | 12 Jan 2022 08:23 |
| URI: | http://umpir.ump.edu.my/id/eprint/14502 |
| Download Statistic: | View Download Statistics |
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