On the Adaptive Vibration Suppression on a Flexible Spatial Structure

Abstract

This work deals with the application of a robust adaptive vibration control scheme on a flexible crane-type structure, which is based on Positive Feedback Control and on-line algebraic identification strategies of the most important modal parameters of the mechanical structure submitted to changes on mass, viscous damping and/or stiffness, common under variable payloads, as well as the estimation of exogenous excitation forces. For active vibration control the flexible structure employs a PZT stack actuator. Moreover, the modal parameters are estimated using on-line algebraic identification algorithms, which lead to fast estimations of those critical natural frequencies and modal damping on a given frequency range. This information is then used to synthesize and tune an adaptive Positive Position Feedback control scheme, for robust active damping injection tasks on certain specific mode shapes of the flexible structure. Some experimental results are provided to describe the fast and effective vibration attenuation on an experimental setup.