A Vibration Suppression Controller Design for a Two-Link Manipulator with Flexible Joints

2021 ◽  
Author(s):  
Qiang Xin ◽  
Chong Chong Wang ◽  
Chin-Yin Chen ◽  
Guilin Yang
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Flexible Joints

Vibration suppression of wind turbine nacelle with active electromagnetic mass damper systems using adaptive backstepping control

2021 ◽  
pp. 107754632199887
Author(s):  
Sinan Basaran ◽  
Fevzi Cakmak Bolat ◽  
Selim Sivrioglu
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Wind Load ◽  
Backstepping Control ◽  
Structural Systems ◽  
Adaptive Backstepping ◽  
Electromagnetic Mass ◽  
Flow Induced Vibration ◽  
Adaptive Backstepping Control ◽  
Mass Damper

Many structural systems, such as wind turbines, are exposed to high levels of stress during operation. This is mainly because of the flow-induced vibrations caused by the wind load encountered in every tall structure. Preventing the flow-induced vibration has been an important research area. In this study, an active electromagnetic mass damper system was used to eliminate the vibrations. The position of the stabilizer mass in the active electromagnetic mass damper system was determined according to the displacement information read on the system without using any spring element, unlike any conventional system. The proposed system in this study has a structure that can be implemented as a vibration suppressor in many intelligent structural systems. Two opposing electromagnets were used to determine the instant displacement of the stabilizer mass. The control currents to be given to these electromagnets are determined by using an adaptive backstepping control design. The adaptive controller algorithm can predict the wind load used in the controller design without prior knowledge of the actual wind load. It was observed that the designed active electromagnetic mass damper structure is successful in suppressing system vibrations. As a result, the proposed active electromagnetic mass damper system has been shown to be suitable for structural systems in flow-induced vibration damping.

Active Damping of a Large Flexible Manipulator With a Short-Reach Robot

1996 ◽  
Vol 118 (4) ◽  
pp. 704-713 ◽  
Author(s):  
I. Sharf
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Reaction Force ◽  
Control Variable ◽  
Active Damping ◽  
Flexible Manipulator ◽  
Design Problems ◽  
Flexible Arm ◽  
Six Degree Of Freedom ◽  
Small Robot

This paper deals with manipulator systems comprising a long-reach manipulator (LRM) with a short-reach dextrous manipulator (SRM) attached to its end. The former, due to its size, is assumed to have significant structural flexibility, while the latter is modeled as a rigid robot. The particular problem addressed is that of active damping, or vibration suppression, of the LRM by using SRM specifically for that purpose Such a scenario is envisioned for operations where the large manipulator is used to deploy the small robot and it is necessary to damp out vibrations in LRM prior to operating SRM. The proposed solution to the problem uses the reaction force from SRM to LRM as a control variable which allows to effectively decouple the controller design problems for the two manipulators. A two-stage controller is presented that involves first, determining the trajectory of the short manipulator required to achieve a desired damping wrench to the supporting flexible arm and subsequently, brings the small manipulator to rest. Performance of the active damping algorithm developed is illustrated with a six-degree-of-freedom rigid manipulator on a flexible mast. Comparison to an independent derivative joint controller is included. The paper also discusses how the proposed methodology can be extended to address other issues related to operation of long-reach manipulator systems.

scholarly journals A Review on Eigenstructure Assignment Methods and Orthogonal Eigenstructure Control of Structural Vibrations

2009 ◽  
Vol 16 (6) ◽  
pp. 555-564 ◽  
Author(s):  
Mohammad Rastgaar ◽  
Mehdi Ahmadian ◽  
Steve Southward
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Pole Placement ◽  
Structural Vibration ◽  
Eigenstructure Assignment ◽  
Large Space ◽  
Mode Localization ◽  
The Past ◽  
Recent Developments ◽  
Design Freedom

This paper provides a state-of-the-art review of eigenstructure assignment methods for vibration cancellation. Eigenstructure assignment techniques have been widely used during the past three decades for vibration suppression in structures, especially in large space structures. These methods work similar to mode localization in which global vibrations are managed such that they remain localized within the structure. Such localization would help reducing vibrations more effectively than other methods of vibration cancellation, by virtue of confining the vibrations close to the source of disturbance. The common objective of different methods of eigenstructure assignment is to provide controller design freedom beyond pole placement, and define appropriate shapes for the eigenvectors of the systems. These methods; however, offer a large and complex design space of options that can often overwhelm the control designer. Recent developments in orthogonal eigenstructure control offers a significant simplification of the design task while allowing some experience-based design freedom. The majority of the papers from the past three decades in structural vibration cancellation using eigenstructure assignment methods are reviewed, along with recent studies that introduce new developments in eigenstructure assignment techniques.

Active vibration suppression of flexible structure using a LMI-based control patch

2011 ◽  
Vol 18 (9) ◽  
pp. 1375-1379 ◽  
Author(s):  
Hua Wang ◽  
Xian-Hai Shen ◽  
Liang-Xu Zhang ◽  
Xiao-Jin Zhu
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Design Procedure ◽  
Linear Feedback ◽  
Linear Matrix ◽  
Flexible Structure ◽  
Active Vibration Suppression ◽  
Structure Simulation ◽  
Active Vibration ◽  
Control Patch

Based on the linear matrix inequality, a linear feedback control is presented to realize active vibration suppression of a class of flexible structure. By introducing an appropriate modal transformation, the controller design procedure can be simplified greatly. A specific Lyapunov function is adopted to induce the asymptotical stability of the flexible structure. Simulation results for flexible spacecraft are provided to illustrate the effectiveness of the proposed scheme.

Cross term constructed Lyapunov function based two-time scale controller design and vibration suppression for a rotating hub-beam system

2019 ◽  
Vol 42 (3) ◽  
pp. 551-564
Author(s):  
Ghasem Khajepour ◽  
Ramin Vatankhah ◽  
Mohammad Eghtesad ◽  
Mohsen Vakilzadeh
Keyword(s):  
Lyapunov Function ◽  
Vibration Suppression ◽  
Controller Design ◽  
Equations Of Motion ◽  
Angular Position ◽  
Pole Placement ◽  
Cross Term ◽  
Modeling And Control ◽  
Beam System ◽  
Flexible Arm

In this article, modeling and control of a rotating hub-beam system are studied. The system consists of a solid rotating cylinder and an attached flexible arm with a payload at the end. The rotation is supposed to be in the presence of gravity and the flexible arm is assumed to be a Euler-Bernoulli beam. To derive the equations of motion of the system, Lagrange’s method is applied. Moreover, Galerkin’s technique is employed to discretize the equations of motion. Furthermore, designing an appropriate two-time (slow and fast) scale controller in the presence of uncertainties is considered in order to track the desired hub angular position and suppress vibrations of the arm simultaneously. For the so-called slow subsystem, a novel controller design is proposed as two different cases, with and without the presence of uncertainties in system dynamics are considered; and accordingly, a control law for tracking the desired path is introduced based on the idea of using the cross-term constructed Lyapunov function. For the fast subsystem, a pole placement technique is used to suppress vibration of the beam. The simulation results indicate notable effectiveness of the proposed controller.

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