Identifying and Mitigating Residual Vibrations in Wave-Based Control of Lumped, Flexible Systems

Date

2020-07-16

Advisors

Journal Title

Journal ISSN

ISSN

0025-6455

Volume Title

Publisher

Springer

Type

Article

Peer reviewed

Yes

Abstract

Wave-based control (WBC) is a technique for motion control of under-actuated flexible sys-tems. It envisages actuator motion as launching a motion wave into the system, while simulta-neously absorbing any wave returning from the system. For rest-to-rest motion the net launch displacement is set at half the target displacement. In absorbing the returning wave and vibra-tions, WBC moves the system the remaining distance to the target, with zero steady-state error. The focus of this paper is on very small residual vibrations around the target position which can endure for a long time after arrival at target. This issue was discovered through a recent devel-opment within WBC context on controlling complex two-dimensional, mass-spring, beam-like arrays. To date their existence has been unidentified. This paper investigates and interprets the nature of these vibrations, explains and identifies them based on wave ideas, and finally offers a new wave-based approach to mitigate or suppress them. It also discusses their implication, not just for WBC but for the general problem of control of flexible systems.

Description

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.

Keywords

Wave-based control, flexible system control, residual vibrations, vibration reduction

Citation

Habibi, H., O'Connor, W., Zahedi, S.A. (2020) Identifying and Mitigating Residual Vibrations in Wave-Based Control of Lumped, Flexible Systems. Meccanica,

Rights

Research Institute

Institute of Engineering Sciences (IES)