State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Outros Autores: | , , , |
Tipo de documento: | Capítulo de livro |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1007/978-3-030-60694-7_18 http://hdl.handle.net/11449/208492 |
Resumo: | Vibration control techniques are of a great importance in Aerospace Engineering, Automotive Engineering, Mechanical Engineering, and Robotics, providing stability and well damped behavior to control systems. In this context, this work aims to the development of a mathematical model for the slewing flexible structure, considering both flexible and rigid body motion. In order to obtain the equations of motion, the Euler-Lagrange method is considered. The experimental system consists of a flexible beam with a free end, and the other end clamped to a dc motor axis. The angular position of the motor axis is measured and sampled. The state observer is designed in order to estimate the flexible body motion and the angular speed of the rigid body motion, which are important signals in the feedback of vibration control systems. The mathematical model and the sate observer are experimentally validated. The expected results are the stabilization and damping of the vibration modes of the slewing flexible beam. |
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Repositório Institucional da UNESP |
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State Observer Applied to Position and Vibration Control Using Flexible Link ManipulatorFlexible structure controlMathematical modelingSlewing motion controlState observer designVibration control techniques are of a great importance in Aerospace Engineering, Automotive Engineering, Mechanical Engineering, and Robotics, providing stability and well damped behavior to control systems. In this context, this work aims to the development of a mathematical model for the slewing flexible structure, considering both flexible and rigid body motion. In order to obtain the equations of motion, the Euler-Lagrange method is considered. The experimental system consists of a flexible beam with a free end, and the other end clamped to a dc motor axis. The angular position of the motor axis is measured and sampled. The state observer is designed in order to estimate the flexible body motion and the angular speed of the rigid body motion, which are important signals in the feedback of vibration control systems. The mathematical model and the sate observer are experimentally validated. The expected results are the stabilization and damping of the vibration modes of the slewing flexible beam.School of Engineering (FEB) São Paulo State University (UNESP)Institute of Science and Technology at Sorocaba (ICTS) São Paulo State University (UNESP)School of Engineering (FEB) São Paulo State University (UNESP)Institute of Science and Technology at Sorocaba (ICTS) São Paulo State University (UNESP)Universidade Estadual Paulista (Unesp)Daltin, Daniel Celso [UNESP]Bueno, Átila Madureira [UNESP]Balthazar, José Manoel [UNESP]Serni, Paulo José Amaral [UNESP]Barbosa, Rudnei [UNESP]2021-06-25T11:12:59Z2021-06-25T11:12:59Z2021-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookPart281-297http://dx.doi.org/10.1007/978-3-030-60694-7_18Mechanisms and Machine Science, v. 95, p. 281-297.2211-09922211-0984http://hdl.handle.net/11449/20849210.1007/978-3-030-60694-7_182-s2.0-85102200852Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengMechanisms and Machine Scienceinfo:eu-repo/semantics/openAccess2021-10-23T19:02:13Zoai:repositorio.unesp.br:11449/208492Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T23:22:19.151059Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator |
title |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator |
spellingShingle |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator Daltin, Daniel Celso [UNESP] Flexible structure control Mathematical modeling Slewing motion control State observer design |
title_short |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator |
title_full |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator |
title_fullStr |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator |
title_full_unstemmed |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator |
title_sort |
State Observer Applied to Position and Vibration Control Using Flexible Link Manipulator |
author |
Daltin, Daniel Celso [UNESP] |
author_facet |
Daltin, Daniel Celso [UNESP] Bueno, Átila Madureira [UNESP] Balthazar, José Manoel [UNESP] Serni, Paulo José Amaral [UNESP] Barbosa, Rudnei [UNESP] |
author_role |
author |
author2 |
Bueno, Átila Madureira [UNESP] Balthazar, José Manoel [UNESP] Serni, Paulo José Amaral [UNESP] Barbosa, Rudnei [UNESP] |
author2_role |
author author author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Daltin, Daniel Celso [UNESP] Bueno, Átila Madureira [UNESP] Balthazar, José Manoel [UNESP] Serni, Paulo José Amaral [UNESP] Barbosa, Rudnei [UNESP] |
dc.subject.por.fl_str_mv |
Flexible structure control Mathematical modeling Slewing motion control State observer design |
topic |
Flexible structure control Mathematical modeling Slewing motion control State observer design |
description |
Vibration control techniques are of a great importance in Aerospace Engineering, Automotive Engineering, Mechanical Engineering, and Robotics, providing stability and well damped behavior to control systems. In this context, this work aims to the development of a mathematical model for the slewing flexible structure, considering both flexible and rigid body motion. In order to obtain the equations of motion, the Euler-Lagrange method is considered. The experimental system consists of a flexible beam with a free end, and the other end clamped to a dc motor axis. The angular position of the motor axis is measured and sampled. The state observer is designed in order to estimate the flexible body motion and the angular speed of the rigid body motion, which are important signals in the feedback of vibration control systems. The mathematical model and the sate observer are experimentally validated. The expected results are the stabilization and damping of the vibration modes of the slewing flexible beam. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-06-25T11:12:59Z 2021-06-25T11:12:59Z 2021-01-01 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/bookPart |
format |
bookPart |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1007/978-3-030-60694-7_18 Mechanisms and Machine Science, v. 95, p. 281-297. 2211-0992 2211-0984 http://hdl.handle.net/11449/208492 10.1007/978-3-030-60694-7_18 2-s2.0-85102200852 |
url |
http://dx.doi.org/10.1007/978-3-030-60694-7_18 http://hdl.handle.net/11449/208492 |
identifier_str_mv |
Mechanisms and Machine Science, v. 95, p. 281-297. 2211-0992 2211-0984 10.1007/978-3-030-60694-7_18 2-s2.0-85102200852 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Mechanisms and Machine Science |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
281-297 |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1808129512614920192 |