Analysis of Active Control of Cantilever Beam Bending Vibrations

摘要

Active control of bending vibrations in a cantilever beam is examined using a digital computer model of beam and controller. The controller uses the discretized beam equation of motion in a linear control system, which uses a Luenberger observer to reconstruct modal amplitudes and velocities from the sensor output. Feedback gains obtained from a steady state optimal regulator drive a force actuator. The model is used to examine three areas of active control of bending vibrations. First, impact on control effectiveness is investigated or iterative changes in elements of the state weighting matrix, part of the quadratic performance index minimized for the steady state optimal regulator. Second, the steady state optimal regulator is replaced with classical control through addition of open loop zeroes to the system transfer function. Third, the sensor model is changed to include position and rate information and rate information only. State weighting matrix element changes selectively produce increased damping of the mode associated with the changed element.