سال انتشار: ۱۳۸۵

محل انتشار: چهاردهمین کنفرانس سالانه مهندسی مکانیک

تعداد صفحات: ۸

نویسنده(ها):

Esmaeel Khanmirza – Graduate Student, University of Tehran
Aghil Yousefi-Koma – Assistant Professor, University of Tehran
Samin Akbari – Graduate Student, Sharif University of Technology
Bahram Tarverdi zadeh – Graduate Student, University of Tehran

چکیده:

In this paper, a robust control system is developed for a flexible beam with piezoelectric actuators (called Smart Beam). The active control system of smart beam satisfied desired properties for all admissible measurement and plant noises, disturbances and model uncertainties. Thus it is the best candidate for sensitive industrial, medical and etc. robot arms and bases a new concept in the use of smart structures in robotics. The Frequency Response Function (FRF) of the smart beam was obtained from a Finite Element (FE) model.The corresponding transfer function was derived from the Mu synthesis and several control schemes were then designed to suppress the vibration. Results showed the effectiveness of the control system in noise and disturbance rejection. Also, the control system performance in presence of plant uncertainties is studied. A comparative study showed significant advantages of the robust controller over conventional controllers.