Abstract
The robotic arm carrying a moving end effector can be modeled as a rotating beam with moving mass. Active vibration control of rotating beam with moving mass using piezoelectric actuator is presented. Simply supported beam and cantilevered beam are considered in this studying. The equations of the system are derived by Lagrange’s equation with the assumed mode method. The linear classical optimal control algorithm with displacement-velocity feedback is used to determine the control voltage. The numerical simulations reveal that the transverse displacements of the beam can be effectively reduced by the actuators. The effect of rotational speed and acceleration to the dynamic responses of the beam are also investigated.
Highlights
Piezoelectric materials have been more and more often applied to improve structural behavior
Many researchers applied the piezoelectric actuator/sensor pairs to control the vibration of structures [1,2,3,4,5,6]
While other researchers used the piezoelectric actuators only to suppress the dynamic vibration of structures [7,8,9,10,11,12]
Summary
Piezoelectric materials have been more and more often applied to improve structural behavior. We can find some studies in the literature about active vibration control of dynamic response of such structures using piezoelectric actuator. Sung [9] and Nikkhoo et al [10] studied the active control of a supported Euler-Bernoulli beam under a moving mass using piezoelectric actuator, respectively. The moving mass is assumed to travel along linear and orbiting path over the plate respectively In these studies, a linear classical optimal control algorithm with displacement-velocity feedback is used to determine the control voltage. To the author’s knowledge, active vibration control of beam with a moving mass that rotates in the vertical plane using piezoelectric actuator has not been reported. ACTIVE VIBRATION CONTROL OF ROTATING BEAM WITH MOVING MASS USING PIEZOELECTRIC ACTUATOR.
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