Smart Structures and Systems

  • 제7권2호
  • /
  • Pages.103-116
  • /
  • 2011
  • /
  • 1738-1584(pISSN)
  • /
  • 1738-1991(eISSN)
테크노프레스 (Techno-Press)
권호 표지
DOI QR코드

DOI QR Code

Trajectory tracking and active vibration suppression of a smart Single-Link flexible arm using a composite control design

  • Mirzaee, E. (Mechanical Engineering Department, Shiraz University) ;
  • Eghtesad, M. (Mechanical Engineering Department, Shiraz University) ;
  • Fazelzadeh, S.A. (Mechanical Engineering Department, Shiraz University)
  • 투고 : 2009.12.04
  • 심사 : 2010.09.20
  • 발행 : 2011.02.25
⟨ 이전 논문 다음 논문 ⟩

초록

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

키워드

참고문헌

  1. Baily, T. and Hubbard, J.E. (1985), "Distributed piezoelectric-polymer active vibration control of a cantilever beam", J. Guidance, 8(5), 605-611. https://doi.org/10.2514/3.20029
  2. Ballas, R.G. (2007), Piezoelectric Multilayer Beam Bending Actuators: Static and Dynamic Behaviour and Sensor Integration, Springer, Berlin & New York.
  3. Bandyopadhyay, B. and Mehta, A.J. (2005), "Vibration control of smart structure using second order sliding mode control", Proceedings of the 2005 IEEE Conference on Control Applications, August.
  4. Benjeddou, A. (2000), "Advances in piezoelectric finite element modeling of adaptive structural elements: a survey", Comput. Struct., 76, 347-363. https://doi.org/10.1016/S0045-7949(99)00151-0
  5. Canudas, C., Siciliano, B. and Bastin, G. (1997), Theory of Robot Control, Springer, New York.
  6. Clark, R.L., Gibbs, G.P. and Saunders, W.R. (1998), Adaptive Structures: Dynamics and Control, John Wiley and Sons, New York.
  7. Crawley, E.F. and Anderson, E.H. (1990), "Detailed models of piezoceramic actuation of beams", J. Intel. Mat. Syst. Str., 1(1), 4-25. https://doi.org/10.1177/1045389X9000100102
  8. Crawley, E.F. and de Luis, J. (1987), "Use of piezoelectric actuators as elements of intelligent structures", AIAA J., 25(10), 1373-1385. https://doi.org/10.2514/3.9792
  9. Dadfarnia, M., Jalili, N., Xian, B. and Dawson, D.M. (2004), "A Lyapunov-based piezoelectric controller for flexible cartesian robot arms", J. Dyn. Sys., Meas. Contr., 126(2), 347-359. https://doi.org/10.1115/1.1767854
  10. DeCarlo, R.A., Zak, S.H. and Matthews, G.P. (1988), "Variable structure control of nonlinear multivariable systems: a tutorial", Proceedings of the IEEE, 76(3), 212-232. https://doi.org/10.1109/5.4400
  11. Fei, J. (2005), "Active vibration control of flexible steel cantilever beam using piezoelectric actuators", Proceedings of the Thirty-Seventh Southeastern Symposium on System Theory, March.
  12. Franco Correia, V.M., Aguiar Gomes, M.A., Suleman, A., Mota Soares, C.M. and Mota Soares, C.A. (2000), "Modeling and design of adaptive composite structures", Comput. Method. Appl. M., 185(2-3), 325-346. https://doi.org/10.1016/S0045-7825(99)00265-0
  13. Hu, Q. and Ma, G. (2005), "Variable structure control and active vibration suppression of flexible spacecraft during attitude maneuver", Aerosp. Sci. Technol., 9(4), 307-317. https://doi.org/10.1016/j.ast.2005.02.001
  14. Hu, Q., Xie, L. and Gao, H. (2006), "A combined positive position feedback and variable structure approach for flexible spacecraft under input nonlinearity", Proceedings of the 9th International conference on Control, Automation, Robotics and Vision, December.
  15. Hu, Q. (2009a), "Robust adaptive sliding mode attitude maneuvering and vibration damping of three-axisstabilized flexible spacecraft with actuator saturation limits", Nonlinear Dynam., 55(4), 301-321. https://doi.org/10.1007/s11071-008-9363-1
  16. Hu, Q. (2009b), "Variable structure maneuvering control with time-varying sliding surface and active vibration damping of flexible spacecraft with input saturation", Acta Astronaut., 64(11-12), 1085-1108. https://doi.org/10.1016/j.actaastro.2009.01.009
  17. Hu, Q. and Ma, G. (2008), "Adaptive variable structure controller for spacecraft vibration reduction", IEEE T. Aero. Elec. Sys., 44(3), 861-876. https://doi.org/10.1109/TAES.2008.4655349
  18. Jalili, N., Dadfarnia, M., Hong, F. and Ge, S.S. (2002), "Adaptive non model-based piezoelectric control of flexible beams with translational base", Proceedings of the 2002 American Control Conference, May, 5, 3802- 3807.
  19. Kokotovic, P., Khalil, H.K. and O'Reilly, J. (1999), Singular Perturbation Methods in Control: Analysis and Design, SIAM, Philadelphia.
  20. Lin, C.C. and Huang, H.N. (1999), "Vibration control of beam-plates with bonded piezoelectric sensors and actuators", Comput. Struct., 73(1-5), 239-248. https://doi.org/10.1016/S0045-7949(98)00280-6
  21. Lin, J.C. and Nien, M.H. (2005), "Adaptive control of a composite cantilever beam with piezoelectric dampingmodal actuators/sensors", Compos. Struct., 70(2), 170-176. https://doi.org/10.1016/j.compstruct.2004.08.020
  22. Martinez, J. and Nakano, K. (2008), "Application of non-linear observer with simultaneous perturbation stochastic approximation method to single flexible link SMC", Proceedings of the Society of Instrument and Control Engineers (SICE) Annual conference, August.
  23. Meirovitch, L. (2001), Fundamentals of Vibrations, McGraw-Hill, New York.
  24. Shan, J. (2007), "Comparison of two vibration control methods for flexible arm with PZT actuators", Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, 5-8 Aug., 3220-3225.
  25. Sun, D., Mills, J.K., Shan, J. and Tso, S.K. (2004), "A PZT actuator control of a single-link flexible arm based on linear velocity feedback and actuator placement", Mechatronics, 14(4), 381-401. https://doi.org/10.1016/S0957-4158(03)00066-7
  26. Zhu, L., Liu Y., Wang, D. and Hu, Q. (2008a), "Backstepping-based attitude maneuver control and active vibration reduction of flexible spacecraft", Proceedings of the Chinese Control and Decision Conference, July.
  27. Zhu, L., Song, W. and Hu, Q. (2008b), "Active vibration suppression and attitude maneuvers of flexible spacecraft via Fuzzy sliding control", Proceedings of the Chinese Control and Decision Conference, July.

피인용 문헌

  1. Vibration suppression and adaptive-robust control of a smart flexible satellite with three axes maneuvering vol.69, pp.5-6, 2011, https://doi.org/10.1016/j.actaastro.2011.04.001
  2. Effects of photostrictive actuator and active control of flexible membrane structure vol.14, pp.2, 2014, https://doi.org/10.12989/sss.2014.14.2.071
  3. Enhanced Adaptive Filtering Algorithm Based on Sliding Mode Control for Active Vibration Rejection of Smart Beam Structures vol.7, pp.7, 2017, https://doi.org/10.3390/app7070750
  4. Active vibration suppression of a 1D piezoelectric bimorph structure using model predictive sliding mode control vol.11, pp.6, 2013, https://doi.org/10.12989/sss.2013.11.6.623
  5. Active vibration control of smart composite structures in hygrothermal environment vol.44, pp.2, 2011, https://doi.org/10.12989/sem.2012.44.2.127