Iterative Algorithm for Active Vibration Control of Flexible Beam

This paper presents the development of dynamic model of a flexible beam structure using finite difference method. A Simple Proportional (P) control scheme is applied to suppress vibration at the tip of the flexible beam. The performance of P controller is studied by gradually increasing manually the proportional gain until significant attenuation of the vibration is observed. Then the controller is further extended to self-tune the proportional gain by using an intelligent mechanism known as Proportional Iterative Learning Algorithms (P-type ILA). The robustness of both controllers in suppressing the vibration is investigated by changing the beam's physical parameter, applying disturbance at different segments and amplitudes respectively. The simulation results clearly revealed the effectiveness and robustness of a self-tuning proportional control over conventional P control scheme as active vibration control of a flexible beam. Copyright © 2012 Praise Worthy Prize S.r.l. - All rights reserved. Nomenclature U : the actuating force. Y : the beam's deflection. x : the beam distance. t : the time. µ : the beam constant. E : the Young's modulus. I : the moment of inertia. ρ : the mass density. A : cross-sectional area. m : the mass of the beam. M : the shear. V : the bending moment. S : the stiffness matrix. F : the force. K : the controller gain. e : the error signal. Ga : the actuator transfer function. G : the flexible beam transfer function. Gs : the sensor transfer function. Φ : the proportional learning parameter.

[1]  M.U. Salamci,et al.  Active Vibration Suppression of a Flexible Beam via Sliding Mode and H∞Control , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[2]  Keshav P. Dahal,et al.  Intelligent Learning Algorithms for Active Vibration Control , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[3]  Alireza Tavakolpour Saleh.  Mechatronic design of intelligent active vibration control systems for flexible structures , 2010 .

[4]  D. Spearritt,et al.  TORSIONAL VIBRATION CONTROL OF A FLEXIBLE BEAM USING LAMINATED PVDF ACTUATORS , 1996 .

[5]  Mohd Firdaus Bin Hassan.  Vibration suppression of handheld tool using intelligent active force control , 2009, WCE 2009.

[6]  Intan Z. Mat Darus,et al.  Soft computing-based active vibration control of a flexible structure , 2005, Eng. Appl. Artif. Intell..

[7]  Malcolm J. Crocker,et al.  Handbook of noise and vibration control , 2007 .

[8]  M. O. Tokhi,et al.  Active Vibration Control of Flexible Structures Using Genetic Optimisation , 2006 .

[9]  Musa Mailah,et al.  Control of a Robot Arm Using Iterative Learning Algorithm with a Stopping Criterion , 2002 .

[10]  Suguru Arimoto,et al.  Bettering operation of Robots by learning , 1984, J. Field Robotics.

[11]  Intan Zaurah Mat Darus,et al.  Active vibration control of a rectangular flexible plate structure using high gain feedback regulator , 2009 .

[12]  Okko H. Bosgra,et al.  Hankel Iterative Learning Control for residual vibration suppression with MIMO flexible structure experiments , 2007, 2007 American Control Conference.

[13]  J. Fei.  Adaptive sliding mode vibration control schemes for flexible structure system , 2007, 2007 46th IEEE Conference on Decision and Control.

[14]  M. O. Tokhi,et al.  Hybrid learning control schemes with input shaping of a flexible manipulator system , 2006 .

[15]  Musa Mailah,et al.  Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control , 2007 .

[16]  Kevin L. Moore,et al.  Iterative Learning Control: Brief Survey and Categorization , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[17]  M. O. Tokhi,et al.  a Unified Adaptive Active Control Mechanism for Noise Cancellation and Vibration Suppression , 1996 .

[18]  S.J. Elliott,et al.  Active noise control , 1993, IEEE Signal Processing Magazine.

[19]  Musa Mailah,et al.  SIMULATION OF A SUSPENSION SYSTEM WITH ADAPTIVE FUZZY ACTIVE FORCE CONTROL , 2007 .

[20]  Gangbing Song,et al.  Active vibration suppression of a flexible beam with piezoceramic patches using robust model reference control , 2007 .

[21]  M. O. Tokhi,et al.  Real-time design constraints in implementing active vibration control algorithms , 2006, Int. J. Autom. Comput..