Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
Control of flexible cantilever beams
Submission Author:
Leonardo Biagiotti Saint Martin , SP
Co-Authors:
Leonardo Biagiotti Saint Martin, Henrique Silveira, Ricardo Ugliara Mendes, Katia Lucchesi Cavalca Dedini
Presenter: Leonardo Biagiotti Saint Martin
doi://10.26678/ABCM.DINAME2017.DIN17-0003
Abstract
Electromagnetic actuators are widely used in industrial applications, ranging from exciters (very appropriate when excitation with no contact is required or desired) to more complex applications such as vibration control in mechanisms (such as robotic arms). In the present study, an electromagnetic actuator is used in combination with a PID controller to suppress the vibration of a flexible cantilever metallic beam, in three complementary conditions: natural frequencies of the beam; transient regime; and random excitations. To guarantee the correct tune of the PID controller and consequently the efficiency of the actuator, the two main parameters of the beam (i.e. the Young’s modulus of the material and the adequate coefficients for proportional structural damping) were experimentally identified, so that the finite element model was as close as possible to the real dynamic behavior of the cantilever beam. The model adjustment was performed by comparing the frequency response function (FRF) experimentally obtained and the model responses, obtained by numerical simulation. Then, the relay feedback test was applied both to the model and the physical system to determine the ultimate gain and the ultimate frequency of the closed loop systems. From these parameters, five different PID tuning methods were examined in the test rig, being possible to compare their efficiencies both in reducing vibration amplitudes and in conducting the system to its reference position. The adjustments, tuning procedures and tests were repeated considering two different excitation sources: an electromechanic exciter (shaker) and an impact hammer.
Keywords
cantilever-beam, Vibration, PID controller, electromagnetic actuator
