COBEM99

S5 Controle Ativo de Vibrações e Estruturas Inteligentes

Title:

VIBRATION CONTROL OF A ROTATING FLEXIBLE ARM THROUGH THE MOVEMENT OF A SLIDING MASS

Summary :

ABSTRACT. THE MATHEMATICAL MODEL OF A FLEXIBLE ROTATING ARM CARRYING A SLIDING MASS IS DEDUCED USING THE HAMILTON’S PRINCIPLE. THE RESULTING MODEL IS A COUPLED INTEGRO-DIFFERENTIAL SYSTEM OF EQUATIONS, TIME AND SPACE VARIANT DUE TO CHANGES IN THE INERTIA TERMS. SUBSTRUCTURATION WAS USED TO CIRCUMVENT SOME OF THE MATHEMATICAL DIFFICULTIES, CONSIDERING THE FLEXIBLE BEAM AND THE MOVING MASS SEPARATELY. APPLYING THEN THE ASSUMED MODES METHOD, A SIMPLER MODEL, SUITABLE FOR CONTROL DESIGN, HAS BEEN OBTAINED. TWO APPROACHES ARE ADDRESSED FOR STUDYING THE MASS MOVEMENT. THE FIRST ASSUMES THAT THE MASS TRAJECTORY OVER THE ARM IS PRE-SPECIFIED AND THE EXTERNAL TORQUE ON THE ARM IS THE UNIQUE CONTROL VARIABLE. IN THE SECOND APPROACH, THE MASS POSITION IS USED AS A SECOND CONTROL VARIABLE. THIS WORK PRESENTS RESULTS FOR THE FIRST APPROACH CONSIDERING A LQR REGULATOR AS THE CONTROL STRATEGY FOR THE EXTERNAL TORQUE. STRATEGIES FOR THE SECOND APPROACH ARE ALSO DISCUSSED SINCE THE COMPOSED TORQUE-MASS POSITION CONTROL SEEMS TO BE A GOOD ALTERNATIVE FOR VIBRATION CONTROL OF A ROTATING ARM. KEYWORDS: FLEXIBLE STRUCTURES, DYNAMIC MODELING, CONTROL, ROTATING ARMS

Author :

Fleury, Agenor Toledo
Oliveira, Frederico Ricardo F.

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