Vibration Control of a Flexible Arm with Active Constrained Layer Damping

摘要

The vibration of a single link flexible manipulator is attenuated using the Active Constrained layer damping (ACLD) treatment. The ACLD treatment consists of a viscoelastic layer sandwiched between two piezo-electric layers acting as constraining layers with sensing and actuation capabilities. The shear deformation of the visco-elastic layer is controlled to enhance the energy dissipation mechanism and attenuate the vibration of the flexible manipulator. A finite element model is used to describe the dynamics of the system. A third order polynomial is used to describe the lateral displacement of the manipulator and a second order polynomial is used to describe the longitudinal displacements of the different .layers of the manipulator/An appropriate control law is used to control the system. The Coupled Modal Strain energy technique is used to compute the equivalent viscous damping ratios for the elastic layer using the loss factor data of the material. The theoretical predictions of the model are compared with the experimental performance of a manipulator fully treated with a Dyad 606 visco-elastic layer sandwiched between two layers of polyvinylidene fluoride (PVDF) piezo-electric films. The results obtained clearly demonstrate the attenuation capabilities of the Actively-Controlled Constrained Layer Damping.