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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| Other Authors: | |
| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/156581 |
| _version_ | 1826199777324302336 |
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| author | Rodriguez, Andre |
| author2 | Trumper, David L. |
| author_facet | Trumper, David L. Rodriguez, Andre |
| author_sort | Rodriguez, Andre |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T11:25:37Z |
| format | Thesis |
| id | mit-1721.1/156581 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T11:25:37Z |
| publishDate | 2024 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1565812024-09-04T03:39:17Z Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods Rodriguez, Andre Trumper, David L. Massachusetts Institute of Technology. Department of Mechanical Engineering 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. S.B. 2024-09-03T21:09:12Z 2024-09-03T21:09:12Z 2024-05 2024-07-10T17:33:37.933Z Thesis https://hdl.handle.net/1721.1/156581 In Copyright - Educational Use Permitted Copyright retained by author(s) https://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Rodriguez, Andre Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods |
| title | Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods |
| title_full | Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods |
| title_fullStr | Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods |
| title_full_unstemmed | Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods |
| title_short | Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods |
| title_sort | vibrational control of a cantilever beam using sensor and actuator averaging methods |
| url | https://hdl.handle.net/1721.1/156581 |
| work_keys_str_mv | AT rodriguezandre vibrationalcontrolofacantileverbeamusingsensorandactuatoraveragingmethods |