Control and exponential stabilization for the equation of an axially moving viscoelastic strip

The aim through this work is to suppress the transverse vibrations of an axially moving viscoelastic strip. A controller mechanism (dynamic actuator) is attached at the right boundary to control the undesirable vibrations. The moving strip is modeled as a moving beam pulled at a constant speed through 2 eyelets. The left eyelet is fixed in the sense that there is no transverse displacement (see Figure 1 ). The mathematical model of this system consists of an integro‐partial differential equation describing the dynamic of the strip and an integro‐differential equation describing the dynamic of the actuator. The multiplier method is used to design a boundary control law ensuring an exponential stabilization result.     

A Wave-Based Approach to Adaptively Control Self-Excited Vibrations in Drill-Strings

Due to their small diameter-to-length-ratio, drill-strings are vulnerable to torsional vibrations. Moreover, the string is exposed to unknown or uncertain time-variant and nonlinear loads (e.g. friction with falling friction characteristics, contact with the borehole, differential sticking), which can result in severe torsional vibrations and stick-slip. The control law for the boundary controller at the top drive of the string needs to adapt to those unknown loads in order to stabilize the vibrations. The torsional vibrations of a drill-string are governed by the wave equation. Analytical solutions and control laws are often based on a separation of the dynamics into a time- and a space-dependent part (modal representation). Here, we decompose the vibrations into two traveling waves according to the D'Alembert solution, using only few measurements along the string. The wave which travels up the string is then compensated by the actuator at the top drive. With this compensation, the upward-traveling wave is no longer reflected back into the string and vibration energy is absorbed, thus stabilizing the torsional vibrations. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Unilateral Constrained Bending Vibrations on a Torsional String

Vibrations in long torsional strings result in spatio‐temporal dynamics. In order to actively damp these vibrations the system has to be analysed analytically, numerically and experimentally. Stick‐slip‐effects result in torsional selfexcited vibrations of the string. These vibrations are coupled with bending vibrations which are constrained by the borehole. The straight string was modelled in an experimental setup. The control of the straight string and the unilateral constrained bending vibrations were treated seperately. The dynamics of straight strings were controlled using three different approaches: firstly, a simple PD‐controller with the parameters calculated based on a one‐degree‐of‐freedom oscillator, secondly, the parameters were optimized using a simplex‐method, thirdly, the Karhunen‐Loeve‐transformation was used in order to reduce the dimension of the system. A controller based on the reduced system was implemented and the parameters were optimized with the same simplex algorithm. The unilateral constrained bending motion were examined at a cantilever beam which was assumed to be constrained in one direction in the middle of the beam. First, the beam was modelled analytically as a continuous system. The two states (contact and no contact) were described separately. The transition between these states were modelled with energy assumptions. Second, the beam was modelled as a Finite‐Element‐System. The numerical results of both methods were compared with experimental data.     

A semi-active isolator for torsional vibrations

Modern combustion engines produce strong rotational vibrations which could damage elements of the drive train such as the gearbox. A solution to this problem is to mount an isolating device on the output side of the motor. Its function is to filter the torque oscillations to deliver a clean averaged torque to the rest of the drive train. Passive systems have limitations, so that the design of such systems is always a compromise between the effectiveness of the isolation and maximal transmittable average torque. We propose a semi–active system that includes a degressive spring and a hydraulic actuator which can filter effectively the vibrations even if the average torque is high. This isolator is adaptive and doesn't need any command. The stability of this system of the third order is analysed with an averaging method. This leads to some considerations about the design of the control valve of the hydraulic actuator. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Active vibration control of unbalanced flexible rotor–shaft systems parametrically excited due to base motion

Rotor vibrations caused by large time-varying base motion are of considerable importance as there are a good number of rotors, e.g., the ship and aircraft turbine rotors, which are often subject to excitations, as the rotor base, i.e. the vehicle, undergoes large time varying linear and angular displacements as a result of different maneuvers. Due to such motions of the base, the equations of vibratory motion of a flexible rotor–shaft relative to the base (which forms a non-inertial reference frame) contains terms due to Coriolis effect as well as inertial excitations (generally asynchronous to rotor spin) generated by different system parameters. Such equations of motion are linear but time-varying in nature, invoking the possibility of parametric instability under certain frequency–amplitude combinations of the base motion. An investigation of active vibration control of an unbalanced rotor–shaft system on moving bases is attempted in this work with electromagnetic control force provided by an actuator consisting of four electromagnetic exciters, placed on the stator in a suitable plane around the rotor–shaft. The actuator does not levitate the rotor or facilitate any bearing action, which is provided by the conventional suspension system. The equations of motion of the rotor–shaft continuum are first written with respect to the non-inertial reference frame (the moving base in this case) including the effect of rotor internal damping. A conventional model for the electromagnetic exciter is used. Numerical simulations performed on the flexible rotor–shaft modelled using beam finite elements shows that the control action is successful in avoiding the parametric instability, postponing the instability due to internal material damping and reducing the rotor response relative to the rigid base significantly, with sufficiently low demand of control current in comparison with the bias current in the actuator coils.     

The effect of stiffness on the transverse and longitudinal motions of a musical string: Commemorating the 100th anniversary of the birth of Kh.A. Rakhmatulin

The effect of stiffness on the propagation of longitudinal and transverse waves and vibrations in prestretched strings is considered. The contribution of the longitudinal and transverse components to the dynamic load is of the same order. The longitudinal vibrations occur both at natural frequencies and at frequencies of the transverse vibrations. Resonance phenomena are possible. Low stiffness, which is characteristic for musical strings, leads to a small change in the frequencies of the whole spectrum of transverse and longitudinal vibrations, but to a considerable change in the shape of the string at strike and mounting points and on the transverse wave front.     

Piezoelectric control of flexible vibrations in rotating beams: An experimental study

Active control of flexible vibrations by distributed piezoelectric actuators and sensors plays an increasing role in engineering, especially in light-weight structures. Exemplarily, in this contribution a rotating beam is studied which can be found in many practical applications, e.g. as robot arms or flexible manipulators in production processes. It has been intensively shown in the literature that it is possible to completely suppress the flexible vibrations by an appropriate distribution of piezoelectric actuation strains. In order to compensate the inertial forces in the considered rotating beam, a complex distribution is obtained, such that a practical realisation would be very extensive. To overcome the problem, a discrete approximation by piezoelectric patches is applied. In order to find an optimal configuration for an experimental setup, and to investigate several control strategies, a numerical simulation model has been implemented based on Bernoulli-Euler beam theory. The numerical results are verified by an experimental set-up, in which 48 piezoelectric patches have been attached on a beam with rectangular hollow cross-section. Each patch can be used either as an actuator or a sensor. Additionally, strain gauges can be used as sensors. For monitoring, acceleration sensors are used. The control system is implemented within a dSpace environment. The results show a significant reduction of the flexible vibrations. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Riesz basis generation and boundary stabilization of two strings connected by a point mass with variable coefficients

In this paper, we study the Riesz basis property and the problem of stabilization of two vibrating strings connected by a point mass with variable physical coefficients under a boundary feedback control acts at one extreme point and Dirichlet boundary condition on the other end. It is shown that the system has a sequence of generalized eigenfunctions which forms a Riesz basis for the state Hilbert space. By a detailed spectral analysis, it is proved that this hybrid system is asymptotically stable but not exponentially stable.     

Analysis of vibrations in large flexible hybrid systems

The mathematical model of a real flexible elastic system with distributed and discrete parameters is considered. It is a partial differential equation with non-classical boundary conditions. Complexity of the boundary conditions makes it impossible to find exact analytical solutions. To address the problem, we use the asymptotical method of small parameters together with the numerical method of normal fundamental systems of solutions. These methods allow us to investigate vibrations, and a technique for determination of complex eigenvalues of the considered boundary value problem is developed. The conditions, at which vibration processes of different characteristics take place, are defined. The dependence of the vibration frequencies on the physical parameters of the hybrid system is studied. We show that introduction of different feedbacks into the system allows one to control the frequency spectrum, in which excitation of vibrations is possible.     

Decay rates at low and high frequencies for a plate equation with feedback concentrated in interior curves

In this paper we study the stabilization of plate vibrations by means of piezoelectric actuators. In this situation the geometric control condition of Bardos, Lebeau and Rauch [6] is not satisfied. We prove that we have exponential stability for the low frequencies but not for the high frequencies. We give an explicit decay rate for regular initial data at high frequencies while clarifying the behavior of the constant which intervenes in this estimation there function of the frequency of cut n. The method used is based on some trace regularity which reduces stability to some observability inequalities for the corresponding undamped problem. Moreover, we show numerically at low frequencies, that the optimal location of the actuator is the center of the domain Ω.     

Control of an extending nonlinear elastic cable with an active vibration control strategy

An active control strategy based on the fuzzy sliding mode control (FSMC) is developed in this research for controlling the large-amplitude vibrations of an extending nonlinear elastic cable. The geometric nonlinearity of the cable and the fixed–fixed boundary of the cable are considered. For effectively and accurately control the motion of the cable with the active control strategy developed, the governing equation of the elastic cable is established and transformed into a multi-dimensional dynamic system with the 3rd order Galerkin method. The active control strategy is developed on the basis of the dynamic system, and the control strategy is applicable to multi-dimensional dynamic systems. In the numerical simulation, large-amplitude vibrations of the cable are effectively controlled with the control strategy. The results of the research demonstrate significances for controlling the cable vibrations of an elevator in practice.     

State observability of elastic string vibrations under the boundary conditions of the first kind

We solve state observation problems for string vibrations, i.e., problems in which the initial conditions generating the observed string vibrations should be reconstructed from a given string state at two distinct time instants. The observed vibrations are described by the boundary value problem for the wave equation with homogeneous boundary conditions of the first kind. The observation problem is considered for classical and L ₂-generalized solutions of this boundary value problem.     

Interference between the transverse and longitudinal vibrations in musical strings

Two problems of the vibrations of strings are considered using the approach described previously in [1]: the vibrations of the string of a plucked musical instrument, drawn out at one of the points and at rest at the initial instant of time (Problem 1), and the vibrations of the string of a keyboard musical instrument, the points of which are given an initial velocity at the initial instant of time by a hammer of small width (Problem 2). It is established that forced longitudinal oscillations of the string occur at frequencies of the transverse vibrations, the condition for possible resonance of the longitudinal vibrations is derived, and the nature of the vibrations at the point where the string is fastened due to elasticity and the related shift in the frequency of transverse vibrations is established.     

Optimal boundary displacement control at one end of a string with a medium exerting resistance at the other end

We study a problem of optimal boundary control of vibrations of a one-dimensional elastic string, the objective being to bring the string from an arbitrary initial state into an arbitrary terminal state. The control is by the displacement at one end of the string, and a homogeneous boundary condition containing the time derivative is posed at the other end. We study the corresponding initial-boundary value problem in the sense of a generalized solution in the Sobolev space and prove existence and uniqueness theorems for the solution. An optimal boundary control in the sense of minimization of the boundary energy is constructed in closed analytic form.     

On the nonlinear dependence of the optimal boundary control on the initial and terminal conditions

We consider the optimal boundary control of string vibrations and study the case of boundary force control at one end of the string, the other end being free. We show that if the initial and terminal data are arbitrary, then the dependence of the optimal boundary control on these data may be nonlinear. Conditions under which the dependence is linear are indicated. An example is considered in which the optimal control can be found in closed form.     

Two-end controllability of elastic vibrations of systems with distributed and lumped parameters

Boundary control problems for the vibrations of a system with distributed and lumped parameters are solved. The vibrations of a distributed-parameter object are described by boundary value problems with boundary conditions of various types. A lumped-parameter object is described by a second-order ordinary differential equation.     

Vibration of a Complex Strings System under a Moving Force

We consider vibrations of an elastically connected double-spring complex system subjected to moving concentrated forces. This system is treated as two strings connected by an elastic layer. The motion of the system is described by two partial differential equations. It is shown that some solutions of the system response can be obtained not only as series but also in closed forms. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Necessary and sufficient existence conditions for a boundary control of vibrations of a string and a spherical layer for small times

We find necessary and sufficient conditions for the existence of a boundary control of vibrations of a string or a spherical layer for critical and subcritical times. We completely analyze the existence of a boundary control of vibrations of a spherical layer by a force on two spheres. We find necessary and sufficient existence conditions for the control. Along with the control problem for vibrations of a spherical layer, we consider a similar control problem for string vibrations.     

星形热弹性网络系统的稳定性及Riesz基性质

研究了一类星形弹性网络系统在热效应影响以及边界反馈作用下的稳定性问题及系统相应（广义）特征向量的Riesz基性质．基于Green和Naghdi第二类热弹性理论,假设在该热弹性系统中热以有限波速传播,并且在传播过程中无能量耗散．证明了该热弹性网络系统能量渐近衰减到零．并进一步通过系统算子谱分析,讨论得出该系统算子的（广义）特征向量构成状态空间的一组Riesz基．     

Active Vibration Damping and Model-Based Control for an Adaptronic Actuator

The static and dynamic flexibility of a machine tool is often the major limiting factor for the machining quality, especially if high processing speeds as well as high accuracies are desired. Particularly parallel kinematic machines, which have been developed for high processing speeds and accuracy and which often use lightweight structures, can suffer from severe problems with vibrations of system components and the loss of accuracy due to deformations of machine parts. Introducing so–called adaptronic or smart components into the machine tool structure opens up new and interesting possibilities to actively control the deformations and vibrations of flexible machine parts. They allow to specifically target such undesired properties and to significantly reduce or even eliminate their influence on the system performance. Concepts of active vibration damping and model–based control are presented here for such an adaptronic actuator implemented in a machine tool with parallel kinematics. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)