Vibration reduction in a flexible-link mechanism through synthesis of an optimal controller |
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Authors: | Alessandro Gasparetto Vanni Zanotto |
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Institution: | (1) Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Università di Udine, Via delle Scienze, 208 I-33100 Udine, Italy |
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Abstract: | In this paper, reduction of vibration of a flexible planar mechanism is achieved through synthesis of an optimal controller.
A finite element model, based on the equivalent rigid-link system theory, is used to accurately describe the dynamic behavior
of the system. The model, which accounts for geometric and inertial nonlinearities of the mechanism, has been fully validated
through experimental tests. In order to be able to employ the classical optimal control theory, a suitable linear model has
been derived from the original one by means of a suitable linearization procedure. Vibration reduction can then be obtained
by first defining an adequate performance index, which accounts for vibration amplitude, then by solving Riccati’s equation
in order to find the controller that minimizes the performance index, i.e. the optimal controller. The results of several
tests that have been carried out are also reported, to show the effectiveness of the synthesized control system. |
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Keywords: | Vibration Flexible-link mechanism Dynamic model Control Mechanics of machines |
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