Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods
In this paper, governing equations for cantilever beams are derived. We go over sensor and actuator averaging, a method to create a spatial filter that is insensitive to model parameter uncertainty. We develop a controller to actively control cantilever beam vibration using accelerometer input. The...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/156581 |
| Summary: | In this paper, governing equations for cantilever beams are derived. We go over sensor and actuator averaging, a method to create a spatial filter that is insensitive to model parameter uncertainty. We develop a controller to actively control cantilever beam vibration using accelerometer input. The controller is a classic single-sensor single-actuator system that achieves a phase margin of 31° and bandwidth of 3.5 kHz. We then use the same controller but implement a sensor averaging method to achieve a phase margin of 45° with the same bandwidth. Therefore, we increase our phase margin by almost 50% at almost no cost to the controls designer. |
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