Two-time scale vibration suppression control strategy for phase verification manipulator in substation

In order to realize fast and accurate po-sitioning of charged phase verification robot in 110kV substation, a two-time scale vibration suppression con-trol method of flexible manipulator under the dual action of gravity and load is proposed. Firstly, the physical model of the flexible manipulator is established and the vibration deformation is characterized using the assumed modes method (AMM). A dynamic model of the flexible manipulator considering gravity is also established by Lagrange equation in this step. Secondly, the dynamic model is decomposed into two time-scales of fast and slow by means of singular perturbation de-composition. For slow time-scale systems, input shaping control is used to achieve vibration suppression trajec-tory. For fast time-scale systems, the linear quadratic control (LQR) is used to realize the terminal vibration suppression control. Finally, simulation and experiment of the designed vibration suppression controller for the flexible manipulator system are carried out. The results show that the proposed controller can effectively realize the terminal vibration suppression control. Compared with the traditional single input shaping control, the residual amplitude is reduced by up to 47.2% and the residual vibration duration is shortened by 0.4 s.