Infinite-Dimensional Decoupling Control of the Tip Position and the Tip Angle of a Composite Piezoelectric Beam with Tip Mass

Lecture Notes in Control and Information Science - Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems ◽

10.1007/11529798_22 ◽

2005 ◽

pp. 351-368 ◽

Cited By ~ 12

Author(s):

Andreas Kugi ◽

Daniel Thull

Keyword(s):

Decoupling Control ◽

Infinite Dimensional ◽

Piezoelectric Beam ◽

Tip Position ◽

Tip Mass

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An Exact Analytical Solution to Exponentially Tapered Piezoelectric Energy Harvester

Shock and Vibration ◽

10.1155/2015/426876 ◽

2015 ◽

Vol 2015 ◽

pp. 1-13 ◽

Cited By ~ 14

Author(s):

H. Salmani ◽

G. H. Rahimi ◽

S. A. Hosseini Kordkheili

Keyword(s):

Analytical Solution ◽

Energy Harvester ◽

Exact Analytical Solution ◽

Mode Shapes ◽

Electric Resistance ◽

Coupled Equations ◽

Piezoelectric Energy ◽

Piezoelectric Beam ◽

Parallel Connections ◽

Tip Mass

It has been proven that tapering the piezoelectric beam through its length optimizes the power extracted from vibration based energy harvesting. This phenomenon has been investigated by some researchers using semianalytical, finite element and experimental methods. In this paper, an exact analytical solution is presented to calculate the power generated from vibration of exponentially tapered unimorph and bimorph with series and parallel connections. The mass normalized mode shapes of the exponentially tapered piezoelectric beam with tip mass are implemented to transfer the proposed electromechanical coupled equations into modal coordinates. The steady states harmonic solution results are verified both numerically and experimentally. Results show that there exist values for tapering parameter and electric resistance in a way that the output power per mass of the energy harvester will be maximized. Moreover it is concluded that the electric resistance must be higher than a specified value for gaining more power by tapering the beam.

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Simultaneous Optimization of a Flexible Robot Arm

Volume 6: International Symposium on Motion and Vibration Control ◽

10.1115/detc99/movic-8412 ◽

1999 ◽

Author(s):

Ye Zhu ◽

Jinhao Qiu ◽

Junji Tani

Keyword(s):

Sliding Mode ◽

Design Method ◽

Simultaneous Optimization ◽

Robot Arm ◽

Flexible Robot ◽

Cross Sectional ◽

Structure Control ◽

Design Variables ◽

Tip Position ◽

Tip Mass

Abstract Integrated structure/control design of a one-link flexible robot arm is investigated in this paper. The arm consists of a tip mass, a flexible link and a hub and is driven by the hub motor to reach pre-defined tip position and suppress residual flexural vibrations. The arm is modeled using finite element method and the cross-sectional dimensions of the beam elements are used as structural design variables. A sliding mode controller and a linear stabilizer are used to regulate the arm position. The structural and control parameters are optimized simultaneously using genetic algorithm and the simulation results show the advantages of the new design method: faster regulation and less weight for the optimized arm than a uniform arm.

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