Active damping of a Bernoulli-Euler beam via end point impedance control using distributed parameter techniques
Active damping of a Bernoulli-Euler beam via end point impedance control using distributed parameter techniques
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使用分布参数技术通过端点阻抗控制对伯努利-欧拉梁进行主动阻尼
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发表时间：
1986
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通讯作者：
Gregory Michael Procopio
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作者：
Gregory Michael Procopio
为伯努利-欧拉梁设计了特征阻抗端点控制器，该控制器消除了梁边界处行波的反射。该控制器的设计没有截断梁模型。它的设计也没有考虑模式。控制器被设计为具有与梁的特征阻抗相同的函数形式，使得梁看起来是半无限的，并且没有波从控制器所附着的边界反射。这类似于输电线路的特征终端。控制律包括 2 x 2 mlatrix，并使用来自梁尖端的线性和角速度信息来产生单独的控制力和力矩。有两个案例是实验的主题。第一个是 a.自由夹紧梁由于其一般性质而被研究，并且可以应用于柔性空间结构。第二种情况是夹紧滑动梁，用于模拟远程中心顺应设备，该设备是用于紧公差机器人装配的灵活设备。夹紧滑动梁在尖端没有角运动，因此不可能匹配梁的特性阻抗。然而，通过使用分数导数控制器 (/)，可以控制尖端的振动。对自由梁和自由夹紧梁的数字仿真表明，特征阻抗控制器可以有效地抑制振动。模拟还表明，分数阶微分控制器可以控制夹紧滑动梁中的振动。数字模拟假设增益需要大量的控制执行器。实验执行器是用压电聚合物薄膜制成的，该薄膜制成的增益非常低。尽管如此，他们还是能够改善横梁的阻尼。自由夹紧梁的稳定时间减少了 4 倍，夹紧滑动梁的阻尼系数增加了 152%。 ii 知识 首先，我要感谢吉姆·哈伯德（Jim Hubbard）在我有奥利·a（olly a）时收我为他的学生之一。愚蠢的想法。我想做的事。他的耐心和信念帮助我保持理智。我还要感谢结构中每个人的帮助和 conl)a.llionshil)；他们实际上让最后的紧缩变得美好。我只希望我能早点开始与他们合作。谢谢 …
A chara.cteristic impedance end point controller was designed for a Bernoulli-Euler beam which nulls reflections of traveling waves at the boundaries of the beam. This controller was designed without truncation of the beam model. It was also designed without consideration of modes. The controller was designed to have the same funlctional form as the characteristic impedance of the beam so that the beam appeared to be semi-infinite, and no waves were reflected from the boundary to which the controller was attached. This was analogous to the characteristic termination of an electrical transmission line. The control law included a 2 x 2 mlatrix and used linea.r and angular velocity information from the tip of the beam to produce a seperate control force and moment. There were two cases which were the subject of experimentation. The first wa.s a. clamped-free beam which was studied because of its general nature and could be applied to flexible space structures. The second case was a clamped-sliding beam which was used to model a Remote Center Compliance device which is a flexible device used in close-tolerance robotic assembly. The clamlped-sliding beam had no angular motion at the tip so that it was not possible to match the characteristic impedance of the beam. However, by using a fractional derivative controller (/) it was possible to control vibrations at the tip. Digital simulations for a free-free beaml and a clamped-free beam showed that the characteristic impedance controller damped out vibrations effectively. The simulations also showed that the fractional derivative controller controls vibrations in the clamped-sliding beam. The digital simulations assumed gains that required hefty control actu-ators. The experimental actuators were made with piezoelectric polymer film which made very low-gain actuators. Eve so, they were able to improve the damping of the beams. The settling time for the clamped-free beam was reduced by a factor of 4, and the damping factor for the clamped-sliding beam was increased 152%. ii AC'KNOWLEDGEMENT I would first of all like to thank Jim Hubbard for taking me in as one of his students when I had olly a. flillsy idea. of what I wanted to do. His patience anld faith helped kee l) me sane. I would also like to thank everyone in the Structures for their help and conl)a.llionshil); they have actually made the crunch at the end a good time. I only wish I had started working with them sooner. Thanks …