Robust 2-Degrees-Of-Freedom Vibration Suppression Controller Design Based on Simultaneous Optimization between Feedforward and Feedback Compensators

2013 ◽  
Vol 133 (3) ◽  
pp. 290-299 ◽  
Author(s):  
Takanori Kato ◽  
Yoshihiro Maeda ◽  
Makoto Iwasaki ◽  
Hiromu Hirai
2011 ◽  
Vol 131 (1) ◽  
pp. 93-101 ◽  
Author(s):  
Takanori Kato ◽  
Yoshihiro Maeda ◽  
Makoto Iwasaki ◽  
Hiromu Hirai

2021 ◽  
pp. 107754632199887
Author(s):  
Sinan Basaran ◽  
Fevzi Cakmak Bolat ◽  
Selim Sivrioglu

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.


Author(s):  
Wei Huang ◽  
Chongcong Tao ◽  
Hongli Ji ◽  
Jinhao Qiu

Acoustic Black Hole (ABH) plate structure has shown promising potentials of vibration suppression above a cut on frequency. For energy dissipation below the cut on frequency, however, the ABH is less effective due to the absence of wave focusing effect. This work reports a simultaneous optimization of ABH plates for broadband energy dissipation. Two sets of design variables of ABH plates, that is, geometry of the profile and topology of the damping layer, are optimized in an alternatively nested procedure. A novel objective function, namely the upper limit of kinetic energy, is proposed. Modeling of ABH structures is implemented and dynamic characteristic is solved using finite element method. A rectangular plate embedded with two ABH indentations is presented as a numerical example. Influence of frequency ranges in the calculation and mass ratios of the damping layer on results are discussed. The achieved optimal arrangement of the damping layer is found to cover equally, if not more, above the non-ABH (uniform) part of the plate than the ABH area. This is inconsistent with the conventional believe that damping layers should cover as much of the ABH area as possible. Mechanism of the broadband energy dissipation by the optimal solution is demonstrated.


1996 ◽  
Vol 118 (4) ◽  
pp. 704-713 ◽  
Author(s):  
I. Sharf

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.


Author(s):  
W. B. Shieh ◽  
S. Azarm ◽  
L. W. Tsai ◽  
A. L. Tits

Abstract We study a recently proposed compound two degrees of freedom planar leg mechanism consisting of a four-bar linkage and a pantograph. In this mechanism, one degree of freedom is used for normal walking to provide an ovoid path which emulates that of humans while the other is used only when necessary to walk over obstacles. Potential advantages of such a compound mechanism are fast locomotion, minimal energy loss, simplicity in controller design, and slenderness of the leg. To exploit these to the fullest, a multiobjective optimization-based design problem formulation is proposed with the following four design objectives: (i) minimum leg height, (ii) minimum of the maximum joint forces, (iii) minimum leg mass, and (iv) minimum energy loss for a walking cycle. In addition, this problem formulation takes into account a combination of mechanism requirements and structural requirements. Several tradeoff solutions are obtained using the Consol-Optcad interactive optimization-based design package.


Author(s):  
Tong Li ◽  
Huabo Yang ◽  
Jiayi Tian ◽  
Shifeng Zhang

Disturbance rejection control has been developed over decades attracting wide interest and research attention. Aiming at providing a potential engineering application of disturbance rejection control to aircraft control system design following traditional frequency-domain methods, this paper presents an improved disturbance rejection control of two degrees of freedom based on [Formula: see text] synthesis and equivalent-input-disturbance for an aircraft longitudinal autopilot design. The mismatched disturbance is transformed as a “total disturbance” in the input channel for compensation through the establishment of an equivalent-input-disturbance system. The [Formula: see text] synthesis based on classical frequency-domain analysis is applied to a disturbance filter and a composite feedback controller design. In terms of the controller design, the system including the filter is considered as a whole in [Formula: see text] optimization process without separate design to guarantee the stability of the overall system. Furthermore, the proposed method is successfully implemented on the autopilot design by modeling nonlinear aircraft longitudinal dynamics as a linear equivalent-input-disturbance formulation of angle of attack. The simulation of tracking performance in comparison with existing renowned methods is conducted in the presence of aerodynamic uncertainties, gust disturbance, actuator characteristics and sensor noise. The results verify the effectiveness of the proposed method with excellent performance and practical prospects.


Sign in / Sign up

Export Citation Format

Share Document