scholarly journals A Vibration Control Method for the Flexible Arm Based on Energy Migration

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao ◽  
Ming Fan
Keyword(s):  
Vibration Control ◽  
Internal Resonance ◽  
Control Method ◽  
Rigid Motion ◽  
Energy Migration ◽  
Vibration Energy ◽  
Vibration Absorber ◽  
Enhancement Effect ◽  
Inertial Coupling ◽  
Flexible Arm

A vibration control method based on energy migration is proposed to decrease vibration response of the flexible arm undergoing rigid motion. A type of vibration absorber is suggested and gives rise to the inertial coupling between the modes of the flexible arm and the absorber. By analyzing 1 : 2 internal resonance, it is proved that the internal resonance can be successfully created and the exchange of vibration energy is existent. Due to the inertial coupling, the damping enhancement effect is revealed. Via the inertial coupling, vibration energy of the flexible arm can be dissipated by not only the damping of the vibration absorber but also its own enhanced damping, thereby effectively decreasing vibration. Through numerical simulations and analyses, it is proven that this method is feasible in controlling nonlinear vibration of the flexible arm undergoing rigid motion.

Theoretical and experimental study on vibration control of flexible manipulator based on internal resonance

2017 ◽  
Vol 24 (15) ◽  
pp. 3321-3337 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao ◽  
Xin Lv ◽  
Ming Fan
Keyword(s):  
Experimental Study ◽  
Experimental Investigation ◽  
Vibration Control ◽  
Internal Resonance ◽  
Control Method ◽  
Experimental Studies ◽  
Rigid Motion ◽  
Flexible Manipulator ◽  
Vibration Energy ◽  
Vibration Absorber

Theoretical and experimental studies are conducted to control nonlinear vibration of a two-link flexible manipulator via internal resonance. A vibration control method is proposed and an effective vibration absorber is implemented based on a servomotor to establish a 2:1 internal resonance relationship with the flexible manipulator. By way of perturbation analysis, it is proven that internal resonance can be successfully established for the flexible manipulator undergoing rigid motion. In the presence of damping, the vibration energy of the flexible manipulator can be transferred to and dissipated by the vibration absorber via internal resonance. Numerical simulations and experimental investigation have verified the effectiveness and feasibility of the proposed method.

scholarly journals Vibration Reduction for a Flexible Arm Using Magnetorheological Elastomer Vibration Absorber

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Yushu Bian ◽  
Xuefeng Liang ◽  
Zhihui Gao
Keyword(s):  
Nonlinear Vibration ◽  
Internal Resonance ◽  
Control Method ◽  
Resonance Condition ◽  
Vibration Energy ◽  
Vibration Absorber ◽  
Semiactive Control ◽  
Magnetorheological Elastomer ◽  
Flexible Arm ◽  
Transfer Channel

The application of the magnetorheological elastomer (MRE) to nonlinear vibration control for a flexible arm is investigated in this paper. A semiactive control method is suggested to reduce vibration via the internal resonance and the MRE. To establish a vibration energy transfer channel, a tuned vibration absorber based on the MRE is developed. Through adjusting the coil current, the frequency of the vibration absorber can be readily controlled by the external magnetic field, thereby maintaining the internal resonance condition with the flexible arm. By the perturbation analysis, it is proven that the internal resonance can be successfully established between the flexible arm and the MRE vibration absorber, and the vibration energy of the flexible arm can be transferred to and dissipated by the MRE vibration absorber. Through numerical simulations, virtual prototyping simulations, and experimental investigation, it is verified that the proposed method and the suggested MRE vibration absorber are effective in controlling nonlinear vibration of the flexible arm.

Vibration Control of the Flexible Robotic Arm through Modal Interaction

2014 ◽  
Vol 490-491 ◽  
pp. 1142-1145
Author(s):  
Zhi Hui Gao ◽  
Bing Dong Liu ◽  
Bo Shan
Keyword(s):  
Vibration Control ◽  
Control Method ◽  
Perturbation Technique ◽  
Equations Of Motion ◽  
Rigid Motion ◽  
Robotic Arm ◽  
Vibration Absorber ◽  
Modal Interaction ◽  
Flexible Arm ◽  
Nonlinear Equations Of Motion

A vibration control method is proposed to suppress nonlinear large vibration of the flexible robotic arm undergoing rigid motion. The method takes advantage of modal interaction and is implemented based on internal resonance. To attenuate vibration of the flexible arm, another vibrating system, consisting of a rigid link, a flexible joint and a damper, is introduced as a vibration absorber. Perturbation technique is used to study the transient response of the nonlinear equations of motion. Numerical simulation results preliminarily verify that the proposed control strategy is able to effectively reduce vibration of the flexible robotic arm.

scholarly journals Nonlinear Optimal-Based Vibration Control of a Wind Turbine Tower Using Hybrid vs. Magnetorheological Tuned Vibration Absorber

Energies ◽  
2021 ◽  
Vol 14 (16) ◽  
pp. 5145
Author(s):  
Paweł Martynowicz
Keyword(s):  
Vibration Control ◽  
Wind Turbine ◽  
Energy Demand ◽  
Control Method ◽  
Vibration Absorber ◽  
Real Time Control ◽  
Time Control ◽  
Working Space ◽  
Wind Turbine Tower ◽  
Tuned Vibration Absorber

This paper presents an implementation of a nonlinear optimal-based wind turbine tower vibration control method. An NREL 5.0 MW tower-nacelle model equipped with a hybrid tuned vibration absorber (HTVA) is analysed against the model equipped with a magnetorheological TVA (MRTVA). For control purposes, a 3 kN active actuator in parallel with a passive TVA is used in the HTVA system, while an MR damper is built in the MRTVA instead of a viscous damper, as in a standard TVA. All actuator force constraints are embedded in the implemented nonlinear control techniques. By employing the Pontryagin maximum principle, the nonlinear optimal HTVA control proposition was derived along with its simplified revisions to avoid a high computational load during real-time control. The advantage of HTVA over MRTVA in vibration attenuation is evident within the first tower bending frequency neighbourhood, with HTVA also requiring less working space. Using the appropriate optimisation fields enabled an 8-fold reduction of HTVA energy demand along with a (further) 29% reduction of its working space while maintaining a significant advantage of HTVA over the passive TVA. The obtained results are encouraging for the assumed mass ratio and actuator force limitations, proving the effectiveness and validity of the proposed approaches.

scholarly journals Nonlinear vibration control for flexible manipulator using 1: 1 internal resonance absorber

2018 ◽  
Vol 37 (4) ◽  
pp. 1053-1066 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao
Keyword(s):  
Nonlinear Vibration ◽  
Internal Resonance ◽  
Resonance State ◽  
Flexible Manipulator ◽  
Vibration Energy ◽  
Vibration Absorber ◽  
Main Task ◽  
Vibration Absorption ◽  
Transfer Channel ◽  
Nonlinear Vibration Control

The main task of this paper is to put forward a vibration absorption method for attenuating nonlinear vibration of the flexible manipulator based on modal interaction. A vibration absorber is suggested to establish the 1:1 internal resonance state with the flexible manipulator, thereby transferring the vibration energy from the flexible manipulator to the vibration absorber. In the presence of damping, the vibration energy of the flexible manipulator can be effectively dissipated by the vibration absorber. Since this method puts an emphasis on constructing an internal energy transfer channel between the flexible manipulator and the vibration absorber rather than directly responding to external excitations, it is particularly convenient to reduce nonlinear vibration induced by unknown external excitations. Numerical simulations and virtual prototyping simulations have verified this method’s feasibility.

scholarly journals Impact Vibration Attenuation for a Flexible Robotic Manipulator through Transfer and Dissipation of Energy

2013 ◽  
Vol 20 (4) ◽  
pp. 665-680 ◽  
Author(s):  
Yushu Bian ◽  
Zhihui Gao
Keyword(s):  
Large Amplitude ◽  
Internal Resonance ◽  
Rigid Motion ◽  
Robotic Manipulator ◽  
Flexible Manipulator ◽  
Vibration Absorber ◽  
Dissipation Of Energy ◽  
Flexible Robotic Manipulator ◽  
The Impact ◽  
Impact Vibration

Due to the presence of system flexibility, impact can excite severe large amplitude vibration responses of the flexible robotic manipulator. This impact vibration exhibits characteristics of remarkable nonlinearity and strong energy. The main goal of this study is to put forward an energy-based control method to absorb and attenuate large amplitude impact vibration of the flexible robotic manipulator. The method takes advantage of internal resonance and is implemented through a vibration absorber based on the transfer and dissipation of energy. The addition of the vibration absorber to the flexible arm generates a coupling effect between vibration modes of the system. By means of analysis on 2:1 internal resonance, the exchange of energy is proven to be existent. The impact vibrational energy can be transferred from the arm to the absorber and dissipated through the damping of the absorber. The results of numerical simulations are promising and preliminarily verify that the method is feasible and can be used to combat large amplitude impact vibration of the flexible manipulator undergoing rigid motion.

Effects of nonlinear interactions of flexural modes on the performance of a beam autoparametric vibration absorber

2019 ◽  
Vol 26 (7-8) ◽  
pp. 459-474
Author(s):  
Saeed Mahmoudkhani ◽  
Hodjat Soleymani Meymand
Keyword(s):  
Frequency Response ◽  
Internal Resonance ◽  
Continuation Method ◽  
Harmonic Balance Method ◽  
Vibration Absorber ◽  
Primary System ◽  
Lumped Mass ◽  
Response Curves ◽  
Internal Resonances ◽  
The One

The performance of the cantilever beam autoparametric vibration absorber with a lumped mass attached at an arbitrary point on the beam span is investigated. The absorber would have a distinct feature that in addition to the two-to-one internal resonance, the one-to-three and one-to-five internal resonances would also occur between flexural modes of the beam by tuning the mass and position of the lumped mass. Special attention is paid on studying the effect of these resonances on increasing the effectiveness and extending the range of excitation amplitudes at which the autoparametric vibration absorber remains effective. The problem is formulated based on the third-order nonlinear Euler–Bernoulli beam theory, where the assumed-mode method is used for deriving the discretized equations of motion. The numerical continuation method is then applied to obtain the frequency response curves and detect the bifurcation points. The harmonic balance method is also employed for detecting the type of internal resonances between flexural modes by inspecting the frequency response curves corresponding to different harmonics of the response. Parametric studies on the performance of the absorber are conducted by varying the position and mass of the lumped mass, while the frequency ratio of the primary system to the first mode of the beam is kept equal to two. Results indicated that the one-to-five internal resonance is especially responsible for the considerable enhancement of the performance.

Suppressing Chaos in a Nonideal Double-Well Oscillator Using an Based Electromechanical Damped Device

2014 ◽  
Vol 706 ◽  
pp. 25-34 ◽  
Author(s):  
G. Füsun Alişverişçi ◽  
Hüseyin Bayiroğlu ◽  
José Manoel Balthazar ◽  
Jorge Luiz Palacios Felix
Keyword(s):  
Numerical Simulations ◽  
Chaotic Dynamics ◽  
Duffing Oscillator ◽  
Vibration Energy ◽  
Vibration Absorber ◽  
Electrical System ◽  
Chaotic Vibration ◽  
System A ◽  
Ideal System ◽  
Double Well Potential

In this paper, we analyzed chaotic dynamics of an electromechanical damped Duffing oscillator coupled to a rotor. The electromechanical damped device or electromechanical vibration absorber consists of an electrical system coupled magnetically to a mechanical structure (represented by the Duffing oscillator), and that works by transferring the vibration energy of the mechanical system to the electrical system. A Duffing oscillator with double-well potential is considered. Numerical simulations results are presented to demonstrate the effectiveness of the electromechanical vibration absorber. Lyapunov exponents are numerically calculated to prove the occurrence of a chaotic vibration in the non-ideal system and the suppressing of chaotic vibration in the system using the electromechanical damped device.

scholarly journals A Variable Parameter Ambient Vibration Control Method Based on Quasi-Zero Stiffness in Robotic Drilling Systems

Machines ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 67
Author(s):  
Laixi Zhang ◽  
Chenming Zhao ◽  
Feng Qian ◽  
Jaspreet Singh Dhupia ◽  
Mingliang Wu
Keyword(s):  
Vibration Control ◽  
Vibration Isolation ◽  
Control Method ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Variable Parameter ◽  
Harmonic Balance Method ◽  
Variable Stiffness ◽  
Ambient Vibration ◽  
Robotic Drilling

Vibrations in the aircraft assembly building will affect the precision of the robotic drilling system. A variable stiffness and damping semiactive vibration control mechanism with quasi-zero stiffness characteristics is developed. The quasi-zero stiffness of the mechanism is realized by the parallel connection of four vertically arranged bearing springs and two symmetrical horizontally arranged negative stiffness elements. Firstly, the quasi-zero stiffness parameters of the mechanism at the static equilibrium position are obtained through analysis. Secondly, the harmonic balance method is used to deal with the differential equations of motion. The effects of every parameter on the displacement transmissibility are analyzed, and the variable parameter control strategies are proposed. Finally, the system responses of the passive and semiactive vibration isolation mechanisms to the segmental variable frequency excitations are compared through virtual prototype experiments. The results show that the frequency range of vibration isolation is widened, and the stability of the vibration control system is effectively improved without resonance through the semiactive vibration control method. It is of innovative significance for ambient vibration control in robotic drilling systems.

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