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Research Papers

Control of Vibration Using Compliant Actuators

[+] Author and Article Information
Sannia Mareta

Department of Mechanical,
Materials and Manufacturing Engineering,
The University of Nottingham Ningbo China,
199 Taikang East Road,
Ningbo 315100, China
e-mail: sannia.mareta@nottingham.edu.cn

Dunant Halim

Department of Mechanical,
Materials and Manufacturing Engineering,
The University of Nottingham Ningbo China,
199 Taikang East Road,
Ningbo 315100, China
e-mail: dunant.halim@nottingham.edu.cn

Atanas A. Popov

Department of Mechanical,
Materials and Manufacturing Engineering,
The University of Nottingham,
Nottingham NG7 2RD, UK
e-mail: atanas.popov@nottingham.ac.uk

1Corresponding author.

Contributed by the Technical Committee on Vibration and Sound of ASME for publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received July 16, 2016; final manuscript received March 6, 2017; published online June 28, 2017. Assoc. Editor: John Judge.

J. Vib. Acoust 139(5), 051007 (Jun 28, 2017) (13 pages) Paper No: VIB-16-1353; doi: 10.1115/1.4036499 History: Received July 16, 2016; Revised March 06, 2017

This work proposes a method for controlling vibration using compliant-based actuators. The compliant actuator combines a conventional actuator with elastic elements in a series configuration. The benefits of compliant actuators for vibration control applications, demonstrated in this work, are twofold: (i) vibration reduction over a wide frequency bandwidth by passive control means and (ii) improvement of vibration control performance when active control is applied using the compliant actuator. The vibration control performance is compared with the control performance achieved using the well-known vibration absorber and conventional rigid actuator systems. The performance comparison showed that the compliant actuator provided a better flexibility in achieving vibration control over a certain frequency bandwidth. The passive and active control characteristics of the compliant actuator are investigated, which shows that the control performance is highly dependent on the compliant stiffness parameter. The active control characteristics are analyzed by using the proportional-derivative (PD) control strategy which demonstrated the capability of effectively changing the respective effective stiffness and damping of the system. These attractive dual passive–active control characteristics are therefore advantageous for achieving an effective vibration control system, particularly for controlling the vibration over a specific wide frequency bandwidth.

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Figures

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Fig. 1

Vibration control mechanisms using (a) the purely passive tuned vibration absorber or tuned mass damper, (b) the hybrid tuned mass damper, and (c) the compliant actuator system

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Fig. 2

Configuration of a vibration control system with a passive vibration absorber

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Fig. 3

Configuration of a vibration control system with a compliant actuator using a simplified mass-spring-damper mechanism

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Fig. 4

The compliant actuator model with the motor-rack-pinion mechanism (a) and free body diagram of pinion's rack and load (b)

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Fig. 5

Transfer function ΔFL/ΔXpkc for two different stiffness ratios

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Fig. 6

Transfer functions rFL/Tm for different compliant actuator systems

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Fig. 7

The relationship between the resonance frequencies and stiffness ratios

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Fig. 8

Transfer function Ft/Fd (magnitude) for a vibration control system using a compliant actuator with varying values of rk=kc/kL

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Fig. 9

Comparison of vibration absorber, compliant actuator, and conventional stiff actuator systems: (a) and (b) X1/F and XL/Fd and (c) X2/F and Xp/Fd, where X1 and X2 are the displacements of respective primary mass and the secondary mass of the vibration absorber system (see color figure online)

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Fig. 10

Diagram of PD control system with negative feedback diagram of PD control system with negative feedback

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Fig. 11

FRFs of Ft/Fd (magnitude) of (i) the original system (“no actuator”), (ii) the system with the attached passive compliant actuator without active control implemented (“with compliant actuator”), and (iii) the system with the attached passive-active compliant actuator with (a) proportional control, (b) derivative control, and (c) proportional-derivative control

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Fig. 12

Effects of varying proportional and derivative control gains and compliant stiffness on (a) the shifting of dominant resonance frequency and (b) the damping ratio of dominant resonance

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