Force Feedback in Adaptive Trusses for Vibration Isolation in Flexible Structures

1997 ◽  
Vol 119 (3) ◽  
pp. 365-371 ◽  
Author(s):  
W. W. Clark ◽  
H. H. Robertshaw

This paper addresses the transmission of unwanted vibrations in flexible structures by actively minimizing dynamic forces seen at critical locations within the structure. An adaptive truss serves as an active interface between the two isolated sides of the structure, and force-feedback within individual links of the truss is the governing control law. The use of an adaptive truss allows the problem to be viewed as a set of localized control problems with collocated sensors and actuators. This paper first discusses the ideal capabilities of force feedback for active vibration isolation, and then presents the analytical and experimental results of a case study which shows significant reduction in transmitted vibrations.

2020 ◽  
Vol 26 (21-22) ◽  
pp. 2026-2036
Author(s):  
Xiangdong Liu ◽  
Haikuo Liu ◽  
Changkun Du ◽  
Pingli Lu ◽  
Dongping Jin ◽  
...  

The objective of this work was to suppress the vibration of flexible structures by using a distributed cooperative control scheme with decentralized sensors and actuators. For the application of the distributed cooperative control strategy, we first propose the multiple autonomous substructure models for flexible structures. Each autonomous substructure is equipped with its own sensor, actuator, and controller, and they all have computation and communication capabilities. The primary focus of this investigation was to illustrate the use of a distributed cooperative protocol to enable vibration control. Based on the proposed models, we design two novel active vibration control strategies, both of which are implemented in a distributed manner under a communication network. The distributed controllers can effectively suppress the vibration of flexible structures, and a certain degree of interaction cooperation will improve the performance of the vibration suppression. The stability of flexible systems is analyzed by the Lyapunov theory. Finally, numerical examples of a cantilever beam structure demonstrate the effectiveness of the proposed methods.


2002 ◽  
Vol 257 (4) ◽  
pp. 605-613 ◽  
Author(s):  
A. PREUMONT ◽  
A. FRANÇOIS ◽  
F. BOSSENS ◽  
A. ABU-HANIEH

1994 ◽  
Vol 6 (3) ◽  
pp. 183-183
Author(s):  
Kazuto Seto ◽  

Mechanical devices easily cause vibration because they are constructed with structural materials that have little internal damping. For this reason, vibration control has long been a big problem for the development of excellent machines. Now, sophisticated vibration control technology is becoming indispensable for satisfying various demands, related to the higher performance, reduced weight, energy savings, etc. of machines, which have become increasingly stronger in recent years. In particular, a large number of problems in which active vibration control holds the key are occurring in the most advanced fields of engineering. As can be seen in various examples of super-tall buildings such as the Yokohama Landmark Tower and Tokyo Gas Building, which have recently been completed at various locations, the construction of new structures like super-tall buildings has become possible by the support of this technology. On the other hand, with the further progress in mechatronics, it is now common sense that a control system is incorporated in any of today's machines. However, this has caused a new problem related to vibration. The problem is that energy injected for controlling position or motion excites vibration characteristics neglected from the control object and induces violent vibration in the machine. To be more specific, a flexible rotor controlled by a magnetic bearing is; capable of rotating at ultra-high speeds, but its flexible vibration must be controlled in order to solve a multiple 'number of critical speed passage problems. At such a time, higher-order vibration modes neglected from the object of control may cause unstable vibration. This is a new problem called spillover instability. It is expected in the future that an increasing number of such problems related to the simultaneous control of motion and vibration will arise in mechatronics equipment. Up to now, for the control of vibration, passive vibration controlling devices which do not require the injection of energy from outside have often been used. However, with the recent demand for sophisticated vibration control technology as described above, active vibration control methods using sensors, actuators, and controllers have suddenly attracted attention. In the background of the realization of such vibration control methods is the fact that modern control theory, which was considered at the outset to be difficult to handle and hard to put immediately into practical use, and the subsequently developed robust control theory have become easily usable as supported by the following developments: * Development of control system design supporting software as represented by MATLAB and SIMULINK. * Progress in hardware with improvements in computers' computational speeds and with the appearance of DSPs. * Progress in electromagnetic force utilization technology made possible by the development of new materials such as high-performance magnets. * Advancement of vibration visualization technology for control objects based on the development of theoretical and experimental vibration analysis methods. * Advances in accurate control modelling methods. In particular, although these control theories are difficult to make use of unless accurate models of control objects are created, this difficulty has been solved due to the advances in the methods for the optimum placement of sensors and actuators based on experimental modal analysis and also because of the progress in the modeling methods. In this way, these theories are now about to contribute substantially to the development of vibration control technology, and there is even a view that vibration control is being act ively utilized as a splendid place for the testing of new control theories. Thus, in vibration control, vibration analysis and control theory are beginning to develop in a balanced operation like two wheels of a vehicle. Against this background, it has been decided to feature active vibration control in this issue and the next. This issue consists of two explanatory articles on examples of active vibration control and magnetic bearing control problems, eight articles mainly dealing with the active vibration control problems related to flexible structures, two technical reports on the vibration control of super-tall buildings and main towers of large bridges, and an introduction to the research laboratory in Japan where the concept of the vibration control of super-tall buildings was first proposed and realized. At the time when weight reduction is being sought from every field, the slimming and flexibility of structures as well as their resulting vibration control problems cannot be avoided. From this point of view, this special issue has been compiled centering on articles dealing with vibration control problems for flexible structures and their concrete structures. This issue was edited by Seto of Nihon University. Kazuo Yoshida of Keio University will be in charge of the next issue. The editor is most pleased if this special issue draws attention of its readers.


Author(s):  
I K Kookos

In 1997 the ALSTOM Power Technology Centre issued an open challenge to the academic control community, which addressed the control of a gasifier plant at three different production levels. Despite the numerous attempts and control methodologies that have been applied to the ALSTOM benchmark case study no satisfactory solution has yet been presented. This work aims to study the feasibility of the gasifier control problem. It is shown that the problem formulation corresponds to an infeasible problem. More specifically, operation at nominal conditions (100 per cent load) is shown to be easy and minimum control effort is required to satisfy process specifications. Operation, on the other hand, at the 0 per cent load conditions is infeasible and as a result no control law can be found that satisfies all process constraints. In the light of the findings of this study it is recommended that the ALSTOM benchmark gasifier problem should be modified to alleviate the infeasibility problem.


2020 ◽  
Author(s):  
Fei Guo ◽  
Shoukun Wang ◽  
Binkai Yue ◽  
Junzheng Wang

Abstract Serving Stewart plat as wheel-legged construction, the most outstanding superiority of proposed wheel-legged hybrid robot (WLHR) is active vibration isolation during rolling on rugged terrain. This paper presents a force-driven control approach based on model predictive control (MPC) to design optimal control input for Stewart parallel wheel-leg that locomotes using swing foot trajectory. Adding adaptive impedance control in outermost loop, controlling framework prevents robot body horizontal and from vibration over rolling motion. Through dynamic model of Stewart mechanism, controller first creates predictive model by combining Newton-Euler equation, Newton-Raphson iteration of forward kinematic solving for current configuration, inverse kinematic calculation of Stewart obtaining desired joint position, and Gain/Integration module determining reference torque. With minimizing control deviation and input as objective function, a novel control optimization formulation generates optimum input for each control duration. These actuating force naturally enables each strut stretching and retracting used to realize six degree-of-freedom (6DOF) motion for Stewart wheel-leg. We exploit the variable-adapting method to reasonably adjust environmental impedance parameters by current position, velocity, force feedback of wheel-leg. This allow us to adequately acknowledge the desired support force tracking, isolating robot from isolation that is generated from unknown terrain. We demonstrate the validation of our control methodology on physical prototype by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate strip. Respectively given PI controller and a sort of traditional impedance controller as comparison, a better performance of proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder, as well as IMU mounted on robot body.


2006 ◽  
Vol 129 (2) ◽  
pp. 179-192 ◽  
Author(s):  
Claes Olsson

Active vibration isolation from an arbitrarily, structurally complex receiver is considered with respect to the impacts of structure flexibility on the open- and closed-loop system characteristics. Specifically, the generally weak influence of flexibility on the open-loop transfer function in the case of total force feedback, in contrast to acceleration feedback, is investigated. The open-loop system characteristics are analyzed based on open-loop transfer function expressions obtained using modal expansion and on modal model order reduction techniques. To closely demonstrate and illustrate the impacts of flexibility on the closed-loop system performance and stability, a problem of automotive engine vibration isolation from a flexible subframe is presented where the neglected dynamics are represented as an output multiplicative model perturbation. A physical explanation as to why the contribution of flexibility to the open-loop transfer function could be neglected in the case of total force feedback in contrast to acceleration feedback is given. Factors for an individual eigenmode to not significantly contribute to the total force output are presented where the deviation of the mode direction relative to the actuator force direction is pointed out as a key one in addition to modal mass and damping coefficient. In this context, the inherent differences between model order reduction by modal and by balanced truncation are being stressed. For the specific automotive vibration isolation application considered, the degradation of robust performance and stability is shown to be insignificant when obtaining a low-order controller by using total force feedback and neglecting flexibility in the design phase.


Author(s):  
Brij N. Agrawal ◽  
Hyochoong Bang

Abstract The application of piezoelectric actuators and sensors in the vibration suppression of flexible structures is demonstrated experimentally. Navy Type II piezoceramic wafers were bonded at the base of a flexible arm to increase damping of its first structural mode at at 0.138 Hz. A Positive Position Feedback (PPF) analog compensator was used for active vibration control. The damping of the first mode was increased from 0.3% to 1.5 % by using the active control.


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