A modal disturbance estimator for vibration suppression in nonlinear flexible structures

Bagordo, G.; Cazzulani, Gabriele; Resta, Ferruccio; Ripamonti, Francesco

doi:10.1016/j.jsv.2011.07.014

Cited by 36 publications

(22 citation statements)

References 18 publications

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“…A solution to bypass this inherent drawback of independent axis control and to harness the full potential of gantry stages is to use Independent Modal Space Control (IMSC) (Meirovitch, 1990) (Bagordo, Cazzulani, Resta, & Ripamonti, 2011). The principle of this approach consists in transforming the mechanically coupled system into a set of decoupled subsystems, and to control each independently.…”

Section: Transformation Into a Decoupling Basismentioning

confidence: 99%

Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations

Garciaherreros

Kestelyn

Gomand

et al. 2013

Control Engineering Practice

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Section: Transformation Into a Decoupling Basismentioning

confidence: 99%

Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations

Garciaherreros

Kestelyn

Gomand

et al. 2013

Control Engineering Practice

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“…Vibrations suppression, feedforward and feedback actions, disturbance estimator, and modal control were researched. Modal space control method is used to reduce the tip vibration and trajectory control [23][24][25][26][27][28]. Lenord et al studied a flexible hydraulic mobile concrete pump truck.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Truck Mounted Concrete Pump Boom by Virtual Prototyping

Ren

et al. 2017

Journal of Robotics

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By far there is lack of research on different working conditions between rigid and flexible dynamics of truck mounted concrete pump booms. First a 3D model has been established by using virtual prototyping technology of a 37 m long boom in Pro/Engineering software. Then the rigid body simulation model has been built. Next modal superimposition method is adopted to change the 4 rigid body booms into flexible ones. Kinematics law and dynamic characteristics of 4 common working conditions had been studied then. Next tip displacement and the first boom hydraulic cylinder force of the 4 working conditions between rigid and flexible models have been researched. Furthermore the first natural frequencies of the structure have been calculated. The results show that the frequency of the horizontal condition has the lowest of all and the roof condition has the largest of all. Besides the cylinder forces of the flexible model are larger than the corresponding rigid ones because of the flexible boom vibration. Finally an experiment has been done on a boom test rig which proved that the established simulation model is reasonable and the frequency results are correct. All of these provide design reference to mechanical manipulator as well as reducing product development cost of such mechanism.

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“…An example is the inability of predominantly feedback systems to deal with off-resonance problems, for example, which may lie in the quasistatic zone 5 . To deal with some of these problems, approaches incorporating disturbance observers have been explored to compensate for these limitations.…”

Section: Introductionmentioning

confidence: 99%

“…To deal with some of these problems, approaches incorporating disturbance observers have been explored to compensate for these limitations. Previous research has demonstrated disturbance estimators combined with feedback controller schemes such as the Independent Modal Space Control (IMSC) to suppress vibrations in both linear and nonlinear flexible structures such as a beam and flexible boom 5,6 . This has had an impact in improving the vibration mitigation performance beyond only a feedback system with an IMSC controller.…”

Section: Introductionmentioning

confidence: 99%

Incorporating a disturbance observer with direct velocity feedback for control of human-induced vibrations

2016

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Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented.The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller.Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

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A modal disturbance estimator for vibration suppression in nonlinear flexible structures

Cited by 36 publications

References 18 publications

Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations

Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations

Modeling and Analysis of Truck Mounted Concrete Pump Boom by Virtual Prototyping

Incorporating a disturbance observer with direct velocity feedback for control of human-induced vibrations

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