Optimal Placement of Piezoelectric Sensors and Actuators for Controlled Flexible Linkage Mechanisms

[+] Author and Article Information
Xianmin Zhang

College of Mechanical Engineering, South China University of Technology, Guangzhou, Guangdong, 510640, People’s Republic of Chinazhangxm@scut.edu.cn

Arthur G. Erdman

Mechanical Engineering Department, University of Minnesota, 111 Church Street S.E., Minneapolis, MN 55455-0111

J. Vib. Acoust 128(2), 256-260 (Nov 03, 2005) (5 pages) doi:10.1115/1.2159043 History: Received August 08, 2004; Revised November 03, 2005

The optimal placement of sensors and actuators in active vibration control of flexible linkage mechanisms is studied. First, the vibration control model of the flexible mechanism is introduced. Second, based on the concept of the controllability and the observability of the controlled subsystem and the residual subsystem, the optimal model is developed aiming at the maximization of the controllability and the observability of the controlled modes and minimization of those of the residual modes. Finally, a numerical example is presented, which shows that the proposed method is feasible. Simulation analysis shows that to achieve the same control effect, the control system is easier to realize if the sensors and actuators are located in the optimal positions.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

A link with an actuator and a sensor

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Figure 2

Four-bar mechanism

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Figure 3

The maximum singular value of the transfer function matrix from the control input to the measured output

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Figure 4

The maximum singular value of the unmodeled dynamics

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Figure 5

Elastodynamic responses and the residual vibrations in x direction

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Figure 6

Input voltage of the actuator bonded on the crank

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Figure 7

Input voltage of the actuator bonded on the coupler

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Figure 8

Input voltage of the actuator bonded on the follower



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