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Research Papers

Rest-to-Rest Motion of an Experimental Flexible Structure Subject to Friction: Linear Programming Approach

[+] Author and Article Information
Rajaey Kased

Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260kased@eng.buffalo.edu

Tarunraj Singh1

Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260tsingh@buffalo.edu

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1

Corresponding author.

J. Vib. Acoust 132(1), 011005 (Jan 08, 2010) (8 pages) doi:10.1115/1.4000460 History: Received March 17, 2008; Revised July 30, 2009; Published January 08, 2010

A linear programming approach designed to eliminate the residual vibration of the two-mass harmonic system subject to friction and undergoing a point-to-point maneuver is proposed and implemented on an experimental test bed. Techniques for design of positive pulse control profiles for nonrobust and robust open loop controller design are explored, where the positive pulses initiate motion and the friction force brings the system to rest. It is shown that consistent results can be obtained from experiments and the robustness against frequency uncertainty results in the reduction in residual vibration as well as steady-state error.

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Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 6

Bounds on the response of the two-mass system (robust input)

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Figure 7

Box plot time response of the two-mass system (nonrobust input)

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Figure 8

Box plot time response of the two-mass system (robust input)

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Figure 9

Maximum and mean spring torques over 25 experiments (nonrobust control)

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Figure 10

Maximum and mean spring torques over 25 experiments (robust control)

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Figure 5

Bounds on the response of the two-mass system (nonrobust input)

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Figure 1

Two-mass harmonic oscillator

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Figure 2

Bisection algorithm

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Figure 3

Two-mass spring harmonic oscillator subject to friction

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Figure 4

LP solutions for the nonrobust and robust controllers

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