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Control of a Non-uniform Flexible Beam: Identification of First Two Modes

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  • Control Theory and Applications
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Abstract

This paper presents an experimental study implementing the input shaping control of the first two modes of the vibration of a non-uniform flexible cantilever beam having a translating base. Examples of a moving cantilever beam appear in many industrial systems. Vibration suppression of the beam has important implications for improving the effectiveness of such systems. The equations of motion of the cantilever beam, including the moving base, are developed using the extended Hamilton principle. The partial differential equation representing the beam’s dynamics is then transformed into a finite-dimensional model using the Galerkin method. Accordingly, the modal parameter identification procedure is established based on experimental modal analysis. Under the estimated modal parameters, including the natural frequency and damping ratio, single- and two-mode input shaping controllers of three different types (zero vibration, zero vibration derivative, and zero vibration derivative-derivative) are designed for vibration suppression of the beam. Experimental results are discussed, reporting that the two-mode shaper’s vibration suppression was superior to the single-mode shaper. In contrast, the two-mode shaper’s settling time has slightly increased compared to that of the single-mode shaper.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Pusan National University, Busan, 46241, Korea

    Phuong-Tung Pham, Gyoung-Hahn Kim & Keum-Shik Hong

  2. Department of Mechatronics, Ho Chi Minh City University of Technology (HCMUT)-Vietnam National University Ho Chi Minh City, 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City, Vietnam

    Quoc Chi Nguyen

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  1. Phuong-Tung Pham
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Correspondence to Quoc Chi Nguyen.

Additional information

Recommended by Editor Kyoung Kwan Ahn

This research was funded in part by Vietnam National University Ho Chi Minh City (VNU-HCM) under grant no. C2018-20-01 and in part by the National Research Foundation (NRF) of Korea under the auspices of the Ministry of Science and ICT, Korea (grant no. NRF-2020R1A2B5B03096000).

Phuong-Tung Pham received his B.S. and M.S. degrees in mechanical engineering from Ho Chi Minh City University of Technology, in 2016 and 2018, respectively. He is currently a Ph.D. candidate in the School of Mechanical Engineering, Pusan National University, Korea. His research interests include nonlinear control, adaptive control, vibration control, and control of distributed parameter systems.

Gyoung-Hahn Kim received his B.S. degree in mechanical engineering from Yeungnam University, Gyeongsan, in 2013 and his Ph.D. degree in mechanical engineering, Pusan National University, Busan, Korea, in 2021. He is currently a Postdoctoral Fellow in the Institute of Intelligent Logistics and Big Data, Pusan National University. Dr. Kim’s current research interests include sliding mode control, adaptive neural network control, reinforcement deep learning, nonlinear system identification, data-driven control, and control applications to industrial robotics.

Quoc Chi Nguyen received his B.S. degree in mechanical engineering from Ho Chi Minh City University of Technology (HCMUT), Vietnam, in 2002, an M.S. degree in cybernetics from HCMUT, Vietnam, in 2006, and a Ph.D. degree in mechanical engineering from the Pusan National University, Korea, in 2012. Dr. Nguyen was a Marie Curie FP7 postdoctoral fellow at the School of Mechanical Engineering, Tel Aviv University, from 2013 to 2014. He is currently an associate professor with the Department of Mechatronics, HCMUT. Dr. Nguyen’s current research interests include nonlinear systems theory, adaptive control, robotics, and distributed parameter systems.

Keum-Shik Hong Please see vol. 17, no. 12, p. 3008, December, 2019 of this journal.

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Pham, PT., Kim, GH., Nguyen, Q.C. et al. Control of a Non-uniform Flexible Beam: Identification of First Two Modes. Int. J. Control Autom. Syst. 19, 3698–3707 (2021). https://doi.org/10.1007/s12555-020-0913-8

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  • DOI: https://doi.org/10.1007/s12555-020-0913-8

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