CN106773687B - Active vibration control system and method for flexible cantilever structure - Google Patents
Active vibration control system and method for flexible cantilever structure Download PDFInfo
- Publication number
- CN106773687B CN106773687B CN201611146369.9A CN201611146369A CN106773687B CN 106773687 B CN106773687 B CN 106773687B CN 201611146369 A CN201611146369 A CN 201611146369A CN 106773687 B CN106773687 B CN 106773687B
- Authority
- CN
- China
- Prior art keywords
- voltage
- control
- piezoelectric actuator
- vibration
- flexible cantilever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 32
- 238000005516 engineering process Methods 0.000 claims abstract description 9
- 238000004458 analytical method Methods 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 4
- 230000003321 amplification Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000219000 Populus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Buildings Adapted To Withstand Abnormal External Influences (AREA)
Abstract
The invention discloses a vibration active control system and a vibration active control method for a flexible cantilever beam structure, wherein the system comprises a laser displacement sensor, a data acquisition card, a voltage amplifier, a controller and a piezoelectric actuator; the laser displacement sensor acquires vibration displacement signals of the flexible cantilever in real time; the data acquisition card sends the data measured by the sensor to the controller for processing; the controller estimates the frequency of interference by utilizing a time-frequency analysis technology according to the vibration signals acquired by the sensor, and calculates the control voltage required by active control according to a self-adaptive feedforward control algorithm; the voltage amplifier amplifies the control voltage to reach the effective working voltage of the piezoelectric actuator; the sheet-shaped piezoelectric ceramic actuator is adhered to the flexible cantilever beam. After the invention is adopted, under the action of control voltage, the self piezoelectric characteristic generates deformation so as to inhibit or even eliminate the vibration influence of interference, so that the flexible cantilever beam can effectively inhibit the influence of external interference when in work and always works in an optimal state.
Description
Technical Field
The invention belongs to the field of active vibration control of beam structures, and particularly relates to an active vibration control system and method of a flexible cantilever beam structure.
Background
At present, various high-speed mechanisms mainly comprising a link mechanism are widely used in the industrial fields of general machinery, textile, food, printing and the like, and the low-order resonance phenomenon of the mechanisms has great harm to a system. In addition, the existence of elastic vibration in the system can distort the motion track, so that the input-output relationship is deviated, harmful vibration of the mechanism is effectively controlled or corresponding products are designed from the vibration control angle, and the system has practical significance for improving the product quality and reducing the industrial noise caused by the vibration.
Robots are used in various industrial fields, such as flexible manufacturing systems, assembly systems, recovery and release of space vehicles in space technology, and the like, and in the process of converting a robot from one motion state to another motion state, for example, from the motion state to a grabbing state, residual vibration can be generated, and the positioning precision and grabbing precision of the robot can be greatly reduced due to the existence of the residual vibration, so that the working efficiency is affected.
At present, how to quickly eliminate the residual vibration of the flexible robot is still one of the challenges to be solved. In addition, the expandable system with great application value in space technology and military industry, such as expandable antennas, solar sailboards, space stations and the like, can be actually regarded as a multi-degree-of-freedom open-chain or closed-chain flexible mechanism. In recent years, the study of the field of active vibration control of the flexible structure is greatly improved by students at home and abroad, a series of researches and researches are carried out in aspects of vibration characteristic analysis of the flexible structure, actuator position and the like, but the control capability and design of the controller have a plurality of defects, in order to further improve the active control performance of the flexible structure, the time-frequency analysis technology is combined with the adaptive feedforward control algorithm to estimate the external interference frequency, the active control voltage is calculated, and the piezoelectric characteristics of the piezoelectric actuator are combined, so that the influence of interference can be perfectly restrained (the vibration suppression specific energy reaches 1%).
If vibration induced in the deployment process can be effectively suppressed by a suitable control means, the deployment speed can be greatly increased, improving the stability and reliability of the system. There are many engineering contexts in which control of vibration of a flexible mechanism is required, and are not enumerated here. In a word, the system is deeply researched on the aspect of vibration control of the flexible mechanism, has important theoretical significance and great application value, and is very necessary.
Disclosure of Invention
The invention aims to provide a vibration active control system and a vibration active control method for a flexible cantilever structure, which are used for improving the vibration active control performance of the flexible cantilever structure.
In order to solve the technical problems, the invention adopts the following technical scheme:
the vibration active control system comprises a flexible cantilever structure, a laser displacement sensor, a data acquisition card, a controller, a voltage amplifier and a piezoelectric actuator, wherein the piezoelectric actuator is connected to the flexible cantilever;
the laser displacement sensor acquires vibration displacement signals of the flexible cantilever beam in real time and transmits data to the data acquisition card; the data acquisition card sends the data measured by the laser displacement sensor to the controller for processing; the controller estimates the frequency of interference by utilizing a time-frequency analysis technology according to the vibration signal acquired by the laser displacement sensor, calculates the control voltage required by active control according to a self-adaptive feedforward control algorithm, and sends out a control instruction; the voltage amplifier amplifies the control voltage by a certain multiple according to the control command to enable the control voltage to reach the effective working voltage of the piezoelectric actuator.
Further, the piezoelectric actuator is adhered to the flexible cantilever beam and deforms under the action of control voltage.
A vibration active control method of a flexible cantilever structure comprises the following steps:
step 1: acquiring system calculation parameters;
step 2: obtaining system vibration signals, i.e.
Step 3: calculating a flexible cantilever structure system model;
step 4: estimating the interference frequency and calculating the actively controlled voltage;
step 5: the voltage amplifier amplifies the control voltage, namely, the voltage amplifier amplifies the control voltage according to the control instruction to enable the control voltage to reach the effective working voltage of the piezoelectric actuator;
step 6: the piezoelectric actuator deforms under the control of the voltage.
Advancing oneThe parameters calculated in the step 1 include the length L of the beam and the voltage constant C of the piezoelectric actuator a Young's modulus E of beam b Moment of inertia I, density ρ of beam b Cross-sectional area A of beam b Left and right end positions of piezoelectric actuatorMeasuring point position r of laser displacement sensor b Charge constant d 31 Young's modulus E of piezoelectric actuator a Width w a Piezoelectric actuator and thickness t of beam a ,t b 。
Further, the model in the step 3 is that wherein ,r b for measuring the position of a point of the laser displacement sensor, beta is the voltage amplification factor, and d 31 Is a charge constant, E a 、t a 、w a Is the Young's modulus, thickness, and width of the piezoelectric actuator; frequency omega i Use->Obtaining E in b ,I,A b ,V a (r,t),ρ b The Young's modulus, moment of inertia, cross-sectional area, control voltage, and density of the beam are shown, respectively.
Further, the step 4 specifically includes: setting an initial control input; extracting a main frequency of the vibration signal; judging the stability of the extracted frequency; designing and executing new control inputs; adjusting the number of control input components according to the vanishing disturbance; it is determined whether the control input component needs to be updated.
Compared with the prior art, the invention has the beneficial effects that: according to the vibration active control system and method for the flexible cantilever structure, provided by the invention, the piezoelectric characteristics of the piezoelectric material are utilized, the time-frequency analysis technology is utilized to estimate the interference frequency, the self-adaptive feedforward control algorithm calculates the control voltage, the influence of external interference can be perfectly restrained, and the interference restraining effect on the position near the resonance frequency point of the flexible cantilever is more obvious.
Drawings
Fig. 1 is a block diagram of an active vibration control system for a flexible cantilever structure provided by the invention.
Fig. 2 is a flow chart of an active control method for vibration of a flexible cantilever structure.
Fig. 3 is a block diagram of a system when interference is vanished.
FIG. 4 is a schematic illustration of one of the flexible cantilever beam models provided by the present invention.
FIG. 5 is a schematic diagram of a flexible cantilever beam model according to the second embodiment of the present invention.
FIG. 6 is a schematic diagram of a third embodiment of the flexible cantilever beam model provided by the present invention.
Fig. 7 is a specific flowchart of step 4 in the active control method for vibration of a flexible cantilever structure provided by the invention.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
The invention discloses a vibration active control system and a vibration active control method for a flexible cantilever structure, wherein the vibration active control system comprises a laser displacement sensor, a data acquisition card, a voltage amplifier, a controller and a piezoelectric actuator; the laser displacement sensor is fixedly connected with the flexible cantilever beam, and the laser displacement sensor, the data acquisition card, the controller, the voltage amplifier and the piezoelectric actuator are sequentially connected; the piezoelectric actuator is fixedly connected with the flexible cantilever beam.
The laser displacement sensor acquires vibration displacement signals of the flexible cantilever beam in real time and transmits data to the data acquisition card. The data acquisition card sends the data measured by the laser displacement sensor to the PC, namely the controller for processing. The controller estimates the frequency of interference by utilizing a time-frequency analysis technology according to the vibration signal acquired by the laser displacement sensor, calculates the control voltage required by active control according to the self-adaptive feedforward control algorithm, and sends out a control instruction. The voltage amplifier amplifies the control voltage to reach the effective working voltage of the piezoelectric actuator according to the control command.
The piezoelectric actuator is adhered to the flexible cantilever beam, and deformation is generated under the action of control voltage due to the characteristics of the piezoelectric actuator, so that the vibration influence of interference is restrained or even eliminated, and the flexible cantilever beam can effectively restrain the influence of external interference during working and always works in an optimal state.
The invention provides a vibration active control method of a flexible cantilever structure, which is shown in fig. 2 and specifically comprises the following steps:
s1, acquiring system calculation parameters
The invention provides a controlled object equivalent model sketch of a flexible cantilever structure vibration active control system, which is shown in figures 4 to 6, wherein calculated parameters comprise the length L of a beam and the voltage constant C of a piezoelectric actuator a Young's modulus E of beam b Moment of inertia I, density ρ of beam b Cross-sectional area of beam A b Left and right end positions of piezoelectric actuatorSensor measurement point position r b Charge constant d 31 Young's modulus E of piezoelectric actuator a Width w a Piezoelectric actuator and thickness t of beam a ,t b . The system refers to the flexible cantilever structure vibration active control system provided by the invention.
S2, acquiring a system vibration signal
And the laser displacement sensor fixedly connected with the flexible cantilever structure acquires a vibration displacement signal y of the system in real time and transmits data to the data acquisition card. Since any vibration signal can be decomposed into a sum of a finite number of sinusoidal signal components, the disturbance is assumed to comprise a plurality of sinusoidal signals, i.e
S3, calculating a flexible cantilever structure system model
Let y (r, t) denote the elastic displacement of the beam at the measurement point relative to the rest position, which displacement can be represented by the classical euler equation:
wherein ,Eb ,I,A b ,y(r,t),C a ,V a ,ρ b And β represent the Young's modulus, moment of inertia, cross-sectional area, displacement, piezoelectric constant, control voltage and density of the piezoelectric actuator, and voltage magnification, respectively, of the beam. The boundary conditions of the cantilever beam are as follows:
the displacement is expressed in the following form:
wherein φi (r) represents the mode shape of the beam, and is often expressed as follows:
φ i (r)＝A i sinλ i r+B i cosλ i r+C i sinhλ i r+D i coshλ i r (5)
the mode shape satisfies the following orthogonality:
wherein δij Is a Cronecker function, i.eBy utilizing the orthogonality characteristic of the vibration mode and the boundary condition, the method can be as follows:
wherein λi Is a solution to the following equation:
1+cosλ i L coshλ i L＝0 (9)
multiplying both sides of the European Bernoulli equation (2) by phi j (r) then from [0, L]The integral can be obtained:
voltage V a (r, t) is in the intervalIs a constant, the left side of equation (10) can be written as:
note phi i ””(r)＝λ 4 φ i The i-th order modal equation is:
a transfer function model for the piezoelectric actuator control voltage and displacement is derived from the modal equation (12) above:
wherein ,r b the position of the measuring point of the bit sensor, beta is the voltage amplification factor, d 31 Is a charge constant, E a 、t a 、w a Poplar being a piezoelectric actuatorModulus, thickness, and width. Frequency omega i By->Obtaining E in b ,I,A b ,V a (r,t),ρ b Respectively representing the Young's modulus, moment of inertia, cross-sectional area, control voltage, and density of the beam.
S4, estimating the frequency of external interference in real time
S41, setting initial control input u * Sum sub-input u i Number N of (2) * And a frequency of omega i Sinusoidal disturbances of (a); let u *＝0 and N* ＝0。
S42, extracting the main frequency of the vibration signal. An important feature for flexible mechanisms is that if the system input is sinusoidal, the system will also output a sine of the same frequency. The unknown frequency can thus be extracted from the system vibration signal using a Short Time Fourier Transform (STFT). Let f t 1 ,f t 2 ,…,f t vt The frequency of the vibration signal extracted at time t, but it is notable that this may include interference frequencies of random interference.
S43, judging the stability of the extracted frequency. Since the frequency generated by random disturbance is changed rapidly and irregularly with time, the frequency which is constant for a short time must be generated by sinusoidal disturbance set in S41. These invariant frequencies are then extracted. Given a positive integer kappa and a sufficiently small positive number epsilon, the presence of a positive integer v causes the inequality to be
||Ψ ν,κ (t) | < ε (14) holds, where v m Is the maximum value of v which satisfies the formula (1),
then the frequencyCan be regarded as stableNormally, kappa is 3 to 5.
S44, designing and executing a new AFC-based control input component u i . The AFC algorithm can be generalized to the following formula:
wherein ui (t) is the control sub-input, is the frequency ω i G > 0 is the adaptive gain, G R (ω i ),G I (ω i ) The real and imaginary parts of the transfer function in equation (13) are respectively,respectively is theta c,i ,θ s,i Is used for the estimation of the estimated value of (a). In this step, the external disturbance adds some new sinusoidal components and cannot be controlled by the current control input u * Eliminated. Next, a new control input based on the adaptive feedforward control algorithm needs to be designed to suppress the disturbance of the frequency identified by S43. That is, if equation (1) is not established, the routine returns to S42 to continue execution, otherwise, the control input u is made * Is that
wherein ui Is calculated by the formula (16) asIs provided for the control input of (a). In addition, the number of control sub-inputs is N * +ν m 。
S45, according to the adjustment quantity N of the disappeared interference * . As can be seen from FIG. 3, the AFC-based control input u 1 Approaching zero if its corresponding sinusoidal component interferes with d e,1 And vanishes. In addition, the constant interference component is also reservedIts control inputAnd the whole control object is expanded into a new system. From the stability conditions, u 1 →d e,1 If d e,1 0, then u 1 And 0. Thus, for control sub-input u i And a sufficiently small positive integer ε 1 It can be obtained if |u i |＜ε 1 Then u i ＝u i+1 ,N * ＝N * -1。
S46, determining whether the control input component u needs to be updated i . For a sufficiently small positive integer ε 2 If the system output y (t) | < ε 2 Then execute the previous control input u * . Otherwise, return to S42.
S5, amplifying the control voltage by a voltage amplifier
The voltage amplifier amplifies the control voltage to reach the effective working voltage of the piezoelectric actuator according to the control command.
S6, the piezoelectric actuator deforms under the action of control voltage
The piezoelectric actuator is adhered to the cantilever beam, and deformation is generated under the action of control voltage due to the characteristics of the piezoelectric actuator, so that the vibration influence of interference is restrained or even eliminated, and the flexible cantilever beam structure can effectively restrain the influence of external interference during working and always works in an optimal state. According to the vibration active control system of the flexible cantilever structure, the piezoelectric characteristics of the piezoelectric materials are utilized, the controller estimates the interference frequency by utilizing a time-frequency analysis technology, and the control voltage required by active control is calculated according to the self-adaptive feedforward control algorithm, so that the influence of external interference can be perfectly restrained, and the interference restraining effect on the position near the resonance frequency point of the flexible cantilever is more obvious.
Claims (2)
1. The vibration active control system of the flexible cantilever structure is formed by sequentially connecting a laser displacement sensor, a data acquisition card, a controller, a voltage amplifier and a piezoelectric actuator, wherein the piezoelectric actuator is connected to the flexible cantilever, and the laser displacement sensor is connected to the flexible cantilever; the laser displacement sensor acquires vibration displacement signals of the flexible cantilever beam in real time and transmits data to the data acquisition card; the data acquisition card sends the data measured by the laser displacement sensor to the controller for processing; the controller estimates the frequency of interference by utilizing a time-frequency analysis technology according to the vibration signal acquired by the laser displacement sensor, calculates the control voltage required by active control according to a self-adaptive feedforward control algorithm, and sends out a control instruction; the voltage amplifier amplifies the control voltage by a certain multiple according to the control instruction to enable the control voltage to reach the effective working voltage of the piezoelectric actuator; the piezoelectric actuator is adhered to the flexible cantilever beam and deforms under the action of control voltage; the method is characterized by comprising the following steps of:
step 1: acquiring system calculation parameters: comprising the length L of the beam and the voltage constant C of the piezoelectric actuator a Young's modulus E of beam b Moment of inertia I, density ρ of beam b Cross-sectional area of beam A b Left and right end positions of piezoelectric actuatorSensor measurement point position r b Charge constant d 31 Young's modulus E of piezoelectric actuator a Width w a Piezoelectric actuator and thickness t of beam a ,t b ；
Step 2: acquiring a system vibration signal: the laser displacement sensor fixedly connected with the flexible cantilever structure acquires a vibration displacement signal y of the system in real time and transmits data to the data acquisition card;
step 3: calculating a flexible cantilever structure system model, wherein the model is as follows
wherein ,r b for the sensor measuring point position, β is the voltage amplification factor, d 31 Is a charge constant, E a 、t a 、w a Young's modulus, thickness and width of the piezoelectric actuator; frequency omega i Use->Obtaining E in b ,I,A b ,V a (r,t),ρ b Respectively representing Young modulus, moment of inertia, cross-sectional area, control voltage and density of the beam;
step 4: estimating the interference frequency and calculating the actively controlled voltage;
step 5: the voltage amplifier amplifies the control voltage, namely, the voltage amplifier amplifies the control voltage according to the control instruction to enable the control voltage to reach the effective working voltage of the piezoelectric actuator;
step 6: the piezoelectric actuator deforms under the control of the voltage.
2. The method for actively controlling vibration of a flexible cantilever structure according to claim 1, wherein the step 4 specifically comprises: setting an initial control input; extracting a main frequency of the vibration signal; judging the stability of the extracted frequency; designing and executing new control inputs; adjusting the number of control input components according to the vanishing disturbance; it is determined whether the control input component needs to be updated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611146369.9A CN106773687B (en) | 2016-12-13 | 2016-12-13 | Active vibration control system and method for flexible cantilever structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611146369.9A CN106773687B (en) | 2016-12-13 | 2016-12-13 | Active vibration control system and method for flexible cantilever structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106773687A CN106773687A (en) | 2017-05-31 |
| CN106773687B true CN106773687B (en) | 2023-10-03 |
Family
ID=58880854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611146369.9A Expired - Fee Related CN106773687B (en) | 2016-12-13 | 2016-12-13 | Active vibration control system and method for flexible cantilever structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106773687B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108458037A (en) * | 2018-02-01 | 2018-08-28 | 安徽工程大学 | A kind of passive mixing vibration controller of flexible thin master |
| CN109115096A (en) * | 2018-09-05 | 2019-01-01 | 大连理工大学 | A kind of MFC for cantilever beam Deformation control is from perceiving displacement detecting method |
| CN111625027B (en) * | 2020-05-07 | 2022-02-25 | 上海交通大学 | Active vibration noise control mechanism and method for beam structure |
| CN114674416B (en) * | 2022-03-14 | 2023-03-28 | 北京大学 | Thermal type acoustic vector sensor for inhibiting vibration interference and implementation method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1603770A (en) * | 2004-11-04 | 2005-04-06 | 上海交通大学 | Motion Control and Vibration Control Experimental System of Flexible Cantilever Beam in Non-inertial System |
| CN205238058U (en) * | 2015-11-19 | 2016-05-18 | 南京航空航天大学 | Embedded flexible mechanical arm vibration control device |
| CN105790632A (en) * | 2015-12-17 | 2016-07-20 | 中国矿业大学 | Calibration device and method for control voltage of piezoelectric actuator in flexible beam vibration active control |
| CN206321946U (en) * | 2016-12-13 | 2017-07-11 | 西南交通大学 | A kind of flexible cantilever beam active control in structural vibration system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR940003692B1 (en) * | 1991-12-27 | 1994-04-27 | 포항종합제철 주식회사 | Vibration control device for cantilever |
-
2016
- 2016-12-13 CN CN201611146369.9A patent/CN106773687B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1603770A (en) * | 2004-11-04 | 2005-04-06 | 上海交通大学 | Motion Control and Vibration Control Experimental System of Flexible Cantilever Beam in Non-inertial System |
| CN205238058U (en) * | 2015-11-19 | 2016-05-18 | 南京航空航天大学 | Embedded flexible mechanical arm vibration control device |
| CN105790632A (en) * | 2015-12-17 | 2016-07-20 | 中国矿业大学 | Calibration device and method for control voltage of piezoelectric actuator in flexible beam vibration active control |
| CN206321946U (en) * | 2016-12-13 | 2017-07-11 | 西南交通大学 | A kind of flexible cantilever beam active control in structural vibration system |
Non-Patent Citations (2)
| Title |
|---|
| 刘少文 ; 林泽峰 ; 杨翊仁 ; .部分入水悬臂梁的自由弯曲振动固有特性研究.重庆理工大学学报(自然科学).2015,第29卷(第10期),第89-92页. * |
| 范丽峰.基于压电作动器MFC的柔性梁振动主动控制.《中国硕士学位论文全文数据库 工程科技II辑》.2015,(第第07期期),第C028-77页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106773687A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106773687B (en) | Active vibration control system and method for flexible cantilever structure | |
| He et al. | Vibration control of flexible marine riser systems with input saturation | |
| Han et al. | Fault diagnosis and fault-tolerant tracking control for discrete-time systems with faults and delays in actuator and measurement | |
| Stobart et al. | Uncertainty and disturbance estimator–based control for uncertain LTI-SISO systems with state delays | |
| Mahmoodi et al. | Active vibration control using optimized modified acceleration feedback with adaptive line enhancer for frequency tracking | |
| CN104536295B (en) | A kind of cantilever beam Robust Adaptive Control method | |
| CN109739248B (en) | The stability control method of shipborne three-degree-of-freedom parallel stable platform based on ADRC | |
| Omidi et al. | Multimode modified positive position feedback to control a collocated structure | |
| Abdollahpouri et al. | Real-time moving horizon estimation for a vibrating active cantilever | |
| CN104238365A (en) | Cantilever beam vibration control method on basis of self-adaption neural network control | |
| Li et al. | Vibration control of flexible manipulator with unknown control direction | |
| Yao et al. | Nonlinear Reduced‐Order Observer‐Based Predictive Control for Diving of an Autonomous Underwater Vehicle | |
| CN206321946U (en) | A kind of flexible cantilever beam active control in structural vibration system | |
| Pourkargar et al. | Control of dissipative partial differential equation systems using APOD based dynamic observer designs | |
| Kumar et al. | Pole placement techniques for active vibration control of smart structures: A feasibility study | |
| Cantera et al. | Parameter estimation of a linear ultrasonic motor using the least squares of orthogonal distances algorithm | |
| CN111352344B (en) | A Data-Driven Adaptive Predictor for Dynamic Completely Unknown Systems | |
| Farhat et al. | PI robust fault detection observer for a class of uncertain switched systems using LMIs | |
| Cheng et al. | Stabilization and decay rate estimation of nonlinear flexible marine riser system with the rotational inertia under nonlinear boundary controls | |
| Tu et al. | Dynamical decoupling and feed-forward control for magnetically levitated planar actuators | |
| Soltani et al. | Direction of arrival calibration using iterative learning control | |
| Jhinaoui et al. | Subspace identification for linear periodically time-varying systems | |
| Xu et al. | A model-based adaptive control method for real-time hybrid simulation | |
| Anvari et al. | Real-time angle estimation in IMU sensors: An adaptive Kalman filter approach with forgetting factor | |
| Pittiglio et al. | Dynamic control of cable driven parallel robots with unknown cable stiffness: A joint space approach |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20231003 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |