Modal analysis and control of a rotating Euler-Bernoulli beam part I: Control system analysis and controller design

Control of the vibration modes become critical when one wants to push the state of the art with faster, lighter, and more accurate flexible link. There are three steps which are necessary for the control of the flexible link. First, a good design based model of the plant must exist. Second, a good controller which is also realizable must be designed. Third, input to the controller must be constructed using knowledge of the system dynamic response. In this paper, involving a complete control strategy, pertaining to design based model, control, and dealing with the shaping of system input is presented. In Part I, a single-input single-output transcendental transfer function, pole-zero pattern, controllability, observability, and system type for distributed parameter system is illustrated by application to feedback control of an Euler-Bernoulli beam. The eigenfunctions, orthogonality condition, and mode summation method have been investigated in order to get the system analytical solution. A new control scheme, which depends on the pole-zero plot of the infinite-dimensional system and uses a realizable actuator and sensor without involving truncation of the higher-frequency modes, shows that good stability, robustness, and efficient tracking property can be achieved by moving all the poles of the corresponding closed-loop system further into the left half-plane.     

An Approach to Feed-Forward Controller Design for Underactuated Multibody Systems in the Presence of Uncertainty

The performance of a model-based tracking controller depends on the quality of the underlying model. Especially for flexible multibody systems, the derivation of a suitable model and the subsequent controller design are challenging tasks. In the paper, it is shown how in a straightforward approach a feed-forward controller for a flexible multibody system is designed based on a simplified model which approximates an elastic beam by a combination of rigid beams and force elements. Furthermore, the modelling error due to this harsh simplification is included as uncertainty in the simplified model and considered in the model-based feed-forward controller design using fuzzy arithmetic. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A new nonlinear dynamic analysis method of rotor system supported by oil-film journal bearings

The strong nonlinear behavior usually exists in rotor systems supported by oil-film journal bearings. In this paper, the partial derivative method is extended to the second-order approximate extent to predict the nonlinear dynamic stiffness and damping coefficients of finite-long journal bearings. And the nonlinear oil-film forces approximately represented by dynamic coefficients are used to analyze nonlinear dynamic performance of a symmetrical flexible rotor-bearing system via the journal orbit, phase portrait and Poincaré map. The effects of mass eccentricity on dynamic behaviors of rotor system are mainly investigated. Moreover, the computational method of nonlinear dynamic coefficients of infinite-short bearing is presented. The nonlinear oil-film forces model of finite-long bearing is validated by comparing the numerical results with those obtained by an infinite-short bearing-rotor system model. The results show that the representation method of nonlinear oil-film forces by dynamic coefficients has universal applicability and allows one easily to conduct the nonlinear dynamic analysis of rotor systems.     

Modeling and analysis of nonlinear rotordynamics due to higher order deformations in bending

A mathematical model incorporating the higher order deformations in bending is developed and analyzed to investigate the nonlinear dynamics of rotors. The rotor system considered for the present work consists of a flexible shaft and a rigid disk. The shaft is modeled as a beam with a circular cross section and the Euler Bernoulli beam theory is applied with added effects such as rotary inertia, gyroscopic effect, higher order large deformations, rotor mass unbalance and dynamic axial force. The kinetic and strain (deformation) energies of the rotor system are derived and the Rayleigh–Ritz method is used to discretize these energy expressions. Hamilton’s principle is then applied to obtain the mathematical model consisting of second order coupled nonlinear differential equations of motion. In order to solve these equations and hence obtain the nonlinear dynamic response of the rotor system, the method of multiple scales is applied. Furthermore, this response is examined for different possible resonant conditions and resonant curves are plotted and discussed. It is concluded that nonlinearity due to higher order deformations significantly affects the dynamic behavior of the rotor system leading to resonant hard spring type curves. It is also observed that variations in the values of different parameters like mass unbalance and shaft diameter greatly influence dynamic response. These influences are also presented graphically and discussed.     

Dynamic behavior of an AMB supported rotor subject to harmonic excitation

This paper presents a study of the non-linear response of a simple rigid disk-rotor, supported by active magnetic bearings (AMB), without gyroscopic effects. The case of primary resonance is examined under multi-excitation forces. The rotating shaft is described by a coupled second order non-linear ordinary differential equations. Approximate solutions are sought applying the method of multiple scales. Numerical simulations are carried out to illustrate the steady-state response and the stability of the solutions for various parameters using the frequency response function method. It is shown that the system parameters have different effects on the non-linear response of the rotor. For steady-state response, however, multiple-valued solutions and jump phenomenon occur. Results are compared to previously published work.     

Modelling Flexible Manipulators With Motors at the Joints

A computationally efficient recursive model of a flexible manipulator with motors at the joints is described in this paper. The model adopts a mixed Eulerian and Lagrangian formulation of the equations of a flexible body and exploits the chained structure of the equations for a serial manipulator. The dynamic effects of the motors at the joints, including gyroscopic terms, are fully taken into account. Symbolic manipulation is used in a newly developed package, whose performance in detailed reproduction of the dynamic effects due to the interplay between the motors and the flexible links is assessed through simulation. A comparison between the complete model and a simplified one, where the motors are considered as simple inertias rotating around their own axis, has been carried out, using both a time domain analysis and a frequency domain analysis, in order to show the relevance of gyroscopic effects in modelling flexible robots.     

Forced oscillations of an unbalanced rotor in nonisotropic bearings

The influence of anisotropy of elastic bearings on forced oscillations of a rotor with the static and moment unbalance is studied for the cases of its fastening on a rigid shaft and on a flexible one. The rotor with four degrees of freedom is considered. It is suggested that the shaft is fixed in linear elastic nonisotropic bearings. The differential equations of rotation of the rotor are written in complex variables, and an exact solution to the equation system is found that corresponds to the elliptical synchronous precession. The exact solution is a sum of two vectors, one of which parameterizes a forward precession, while another parameterizes a reverse precession. Amplitude-frequency characteristics of forward and reverse precessions and elliptical trajectories of the rotor axis ends are constructed. It is shown that, in case of nonisotropic bearings, both the forward and reverse precession, as well as the axis motion of nonsimple type (when its one end is moving forward, while another is moving in the reverse direction), can take place. The influence of anisotropy of elastic bearings also manifests itself by change in critical frequencies towards their reduction and by arising of additional critical frequencies in the bottom part of the spectrum, which significantly complicates dynamics of the high-speed rotor at the moment when it reaches the working angular speed.     

非线性转子系统稳定性量化分析方法

转子轴承系统是一类多自由度非线性动力系统,广泛应用于工程实际．设计观念和维修体制的变革提出了稳定性量化分析的要求．本文利用轨线保稳降维方法提出了转子系统稳定性的量化分析方法．首先,对高维非线性非自治转子系统进行数值积分,将n维空间的轨线映射为一系列一维的映象轨线,并将各自由度的运动方程中除该自由度外的所有状态变量用积分结果代换,得到n个互相解耦,含有多个时变参数的单自由度方程．然后,在一维观察空间的外力位移扩展相平面上定义了动态中心点,研究转子系统中常见的几种运动的动态中心点动能差序列的特点,给出了上述典型运动形式的轨线稳定裕度的定量评估指标,应用灵敏度分析技术快速有效地预测周期运动的倍周期分岔点和Hopf分岔点．以一个具有非线性支承的滑动轴承柔性转子模型为例,证明了该方法的有效性．     

Nonlinear stability analysis of rotor-bearing systems

High-speed rotors supported by floating ring bearings exhibit beside self-excited vibrations various nonlinear vibration effects, which may cause the damage of the rotor. After deriving the equations of motion of a perfectly balanced turbocharger rotor supported by floating ring bearings, bifurcation analyses are carried out with both rigid and flexible model by applying numerical continuation methods. Thereby, the main focus of the investigation is on the critical bifurcations emanating destructive limit-cycle oscillations of higher amplitudes. Finally, the influence of the shaft elasticity on the critical limit-cycle oscillations is discussed. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Stability and Bifurcations of Rotors in Fluid Film Bearings

To study the nonlinear phenomena of rotors in the sense of bifurcation theory, the mechanical model of a symmetric flexible rotor is investigated which is supported by two identical journal bearings. Two types of journal bearings are considered. While the oil whirl and oil whip oscillations of rotors in plain journal bearings are widely examined, the floating ring bearings cause a quite different vibration behavior with several mode interactions and an area of so-called critical limit cycles leading to a rotor damage. For both types a Hopf bifurcation marks the beginning of the self-excited oscillations in the case of a perfectly balanced rotor. By applying the methods of numerical continuation the occurring limit cycles as well as their stability are determined. The different nonlinear effects with the corresponding bifurcations are explained by describing the global solution behavior of the rotor-bearing systems. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Synchronization of different-order chaotic systems: Adaptive active vs. optimal control

In this paper, an adaptive algorithm is proposed for synchronization of chaotic systems with different orders. A modular adaptive control strategy is applied to make states of the slave system track those of the master, despite the unknown parameters. One of the most advantages of the modularity approach, which is applied for the first time in chaos synchronization, is its flexibility in choosing identification and control modules and designing them completely independently. In this paper, a modified recursive least square algorithm is used to identify the unknown parameters of the slave system, and the control module is designed by means of two different algorithms. First it is designed based on active control method, and then, in order to synchronize with a lower energy, we design an optimal controller. The two methods are applied on a practical case study, and the results are compared. Two different dimensional neuron models, the HR neuron model and the cable model of cylindrical cell, are considered as the master and slave systems, respectively. Simulation results confirm the effectiveness of the proposed method.     

Modelling of the robotic Powerball®: a nonholonomic,underactuated and variable structure-type system

The Powerball® is the commercial name for a gyroscopic device that is marketed as a wrist exerciser. The device has a rotor with two underactuated degrees of freedom, which can be actuated by the appropriate motion of human or robot wrist axes. After the initial spin, applying the appropriate motion and torques to the housing leads to a spin-up of the rotor. Finding these torques intuitively is an easy task for human operators, but a complex task for a technical consideration, for example, in robotics.

This article's main contribution is a novel dynamic model that considers friction effects. The presented model includes all three working principles of the device: free rotor mode and both modes of rotor rolling in the housing. The work introduces models with one and two degrees of freedom actuation, both of which are suitable for laboratory control experiments. An estimation of the friction is discussed, and both the simulation and the experimental results are presented to evaluate the models.     

Lead with closed-loop system compensation of a radically rotating elastic rod attached to a rigid body part I: A unified approach to the design of Llnear control system

Due to difficulties in modeling and poor knowledge of parameters, the behavior of flexible structures is subject to significant uncertainty. Hence it is essential that the control system provide an absolutely stable property in the presence of large variations. Over the years, many control laws—proportion and derivative (PD) control, nonlinear, linear-quadratic, adaptive, and linear quadratic Gaussian (LQG)—have been synthesized for flexible structures. The most commonly applied are the LQG controllers. In spite of its attractive qualities, the LQG controller is sensitive to parameter variations, and therefore its performance will deteriorate when the payload or typical parameters of the system vary with time. At the same time, the LQG controller does not guarantee general stability margins, and this is, perhaps, its main drawback. On the other hand, the PD is one kind of controller that ensures system stability to parameter variations within a certain bound. But a problem with the PD controller is evident; when high-frequency noise is present in the system, this noise will be amplified by the PD controller, which is generally unacceptable. In this paper, instead of using a PD controller, a passive lead compensator is employed, so that

• 1.(1) no additional power supplies are required and
• 2.(2) noise due to differentiation is reduced.

This lead compensator, together with a composite control strategy designed by the most popularly used sensors, potentiometer and tachometer, for the corresponding closed-loop system, has been shown with very good agreement in terms of system performance requirement. For the design of control system, it is practical to first design the controller based on the linear system model by neglecting the nonlinearities of the system. In Part I, the lead compensator, together with complementary control strategy and computer simulation modeling for a rotating flexible structure, with particular application to elastic rod system, is presented for the linear control system. Then the designed controller is applied to the nonlinear system model for evaluation and redesigned by computer simulation. This will be presented in Part II.     

Cross‐coupling and Unbalance Compensation of a Rigid Rotor

The system under investigation is a rigid rotor supported by two active magnetic bearings. In this paper two coexisting sources of vibrations are considered. First, mass unbalance excitation as a synchronous periodic disturbance and second, destabilizing cross‐coupling forces as generated, for example, by fluid film mechanisms, annular pressure seals or labyrinths of a turbo machine. The basic AMB‐control is carried out by a simple PID controller while for the compensation of both excitation mechanisms two independent control algorithms are used. In order to compensate the destabilizing cross‐coupling forces a least square estimator estimates the unknown parameters of the cross‐coupling mechanism. The mass unbalance forces are compensated by a recursive gain scheduled algorithm. By combining these two algorithms a significant reduction of the vibration level is achieved.     

Vibrations of Rotors Supported on Nonlinear Bearings

Rotors in electrical machines are supported by various types of bearings. In general, the rotor bearings have nonlinear stiffness properties and they influence the rotor vibrations significantly. In this work, this influence of these nonlinearities is investigated. A simplified finite element model using Timoshenko beam elements is set up for the heterogeneous structure of the rotor. A transversally isotropic material model is adopted for the rotor core stack. Imposing the nonlinear bearing stiffnesses on the model, the Newton-Raphson procedure is used to carry out a run up simulation. The spectral content of these results shows nonlinear effects due to the bearings. The rotor vibrations are further investigated in detail for various constant speeds. These results show non-harmonic vibrations of the rotor in a section of the investigated speed range. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Stability and vibration analysis of a complex flexible rotor bearing system

This paper presents the non-linear dynamic analysis of a flexible rotor having unbalanced and supported by ball bearings. The rolling element bearings are modeled as two degree of freedom elements where the kinematics of the rolling elements are taken into account, as well as the internal clearance and the Hertz contact non-linearity. In order to calculate the periodic response of this non-linear system, the harmonic balance method is used. This method is implemented with an exact condensation strategy to reduce the computational time. Moreover, the stability of the non-linear system is analyzed in the frequency-domain by a method based on a perturbation applied to the known harmonic solution in the time domain.     

Robust intelligent sliding model control using recurrent cerebellar model articulation controller for uncertain nonlinear chaotic systems

In this paper, a robust intelligent sliding model control (RISMC) scheme using an adaptive recurrent cerebellar model articulation controller (RCMAC) is developed for a class of uncertain nonlinear chaotic systems. This RISMC system offers a design approach to drive the state trajectory to track a desired trajectory, and it is comprised of an adaptive RCMAC and a robust controller. The adaptive RCMAC is used to mimic an ideal sliding mode control (SMC) due to unknown system dynamics, and a robust controller is designed to recover the residual approximation error for guaranteeing the stable characteristic. Moreover, the Taylor linearization technique is employed to derive the linearized model of the RCMAC. The all adaptation laws of the RISMC system are derived based on the Lyapunov stability analysis and projection algorithm, so that the stability of the system can be guaranteed. Finally, the proposed RISMC system is applied to control a Van der Pol oscillator, a Genesio chaotic system and a Chua’s chaotic circuit. The effectiveness of the proposed control scheme is verified by some simulation results with unknown system dynamics and existence of external disturbance. In addition, the advantages of the proposed RISMC are indicated in comparison with a SMC system.     

Unwanted noise and vibration control using finite element analysis and artificial intelligence

A mechatronic approach integrating both passive and active controllers is presented in this study to deal with unwanted noise and vibration produced in an automobile wiper system operation. Wiper system is a flexible structure with high order, nonlinear model that is considered as a multi objective control problem since there is a conflict between its functionality quality in wiping and generated unwanted noise and vibration. A passive control technique using multi body system (MBS) model and finite element analysis (FEA) is introduced to identify the potential of the effectiveness of the physical parameters of wiper blade to give appropriate range to reduce the unwanted noise and vibration in the system. While, the significant contribution of active controller is to deal with uncertainties exerted to system within wiper operation. In passive control stage, natural frequencies of a uni-blade automobile wiper are determined using modal testing. Later, a 3-dimensional model of a wiper blade assembly is developed in multi body system design to investigate the good validation test and agreement of the physical behavior of the system in experiment with finite element analysis. Parametric modification via complex eigenvalue is adopted to predict instability of the wiper blade. In active control level, experimental data collected from the wiper system during its operation. A system identification model named nonlinear auto regressive exogenous Elman neural network (NARXENN) is developed for implying the active controller. A bi-level adaptive-fuzzy controller is brought in whose parameters are tuned simultaneously by a multi objective genetic algorithm (MOGA) to deal with the conflict interests in wiper control problem.     

Control-oriented Rotordynamics

The rotor vibrations are coupled by many parameters: angular speed couples two radial directions, unbalance couples torsional and lateral vibrations, rotor support couples rigid body and flexible modes. Small changes of these parameters strongly influence the rotor dynamics. The full analysis of the rotor coupled vibrations is much simpler when we can divide the system into smaller subsystems. In this case the calculations are simplified and we have deep insight into mechanisms leading to good or bed behaviour of the rotor motion. It is particularly important in the case of the rotor working in the wide range of the angular speeds. For the vibration analysis the methods known from control theory can be applied. The proposed approach was testified in the paper on the simple 3-mode rotor model. The torsional vibrations were separated from the lateral vibrations and a feedback among the subsystems was established. The subsystems are coupled by rotor unbalance and root locus method allows to show the critical values of the unbalance which destabilize rotor motion for different angular speeds. The lateral vibrations are stabilized by angular speed and again it is possible to find how big value of the rotor speed is sufficient to stabilize the rotor motion. Such analysis of the rotor vibrations appeared very useful for the choice of the control strategy. It indicated such control laws which amplify the stabilizing mechanisms in the rotor dynamics. Such procedures can also lead to the energy saving control laws. In the case of the lateral vibrations there were considered four control strategies. And these strategies were compared to indicate optimal one. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Modeling and nonlinear control of a flexible-link manipulator

The problem of modeling and controlling the tip position of a one-link flexible manipulator is considered. The proposed model has been used to investigate the effect of the open-loop control torque profile, and the payload. The control strategy is based on the nonlinear State Dependent Riccati Equation (SDRE) design method in the context of application to robotics and manufacturing systems. In this paper, an experimental test-bed was developed to demonstrate the concept of end-point position feedback on a single-link elastic manipulator, and the control strategy for a single-link flexible manipulator. The controller is designed based on the nonlinear SDRE developed by the authors and applied to a flexible manipulator. The experimental results are compared with conventional PD controller strategy. The results reveal that the nonlinear SDRE controller is near optimal and robustly; and its performance is improved comparing to the PD control scheme.