This paper presents a wave-based modeling and control approach for suppressing torsional vibrations of an elastic shaft driven by a motor at one end and an inertial load at the other end. A two-port network model representing the dynamics of torsional displacements is obtained starting from the partial differential equations governing a shaft in torsion. By incorporating appropriate boundary conditions, the infinite dimensional transfer function of the system is obtained. Furthermore, the system is represented by delay elements that can be used for simulation purposes. An inversion-based controller that can be used to suppress vibrations while rotating the shaft according to a specific trajectory is then developed. The performance of the controller is further studied using numerical simulations.
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April 2008
Research Papers
Modeling and Control of Torsional Beam Vibrations: A Wave-Based Approach
M. Moallem
M. Moallem
Mechatronics Systems Engineering,
Simon Fraser University Surrey
, 250–13450 102nd Avenue, Surrey BC V3T 0A3, Canada
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M. Moallem
Mechatronics Systems Engineering,
Simon Fraser University Surrey
, 250–13450 102nd Avenue, Surrey BC V3T 0A3, CanadaJ. Vib. Acoust. Apr 2008, 130(2): 021014 (5 pages)
Published Online: March 21, 2008
Article history
Received:
August 28, 2006
Revised:
July 26, 2007
Published:
March 21, 2008
Citation
Moallem, M. (March 21, 2008). "Modeling and Control of Torsional Beam Vibrations: A Wave-Based Approach." ASME. J. Vib. Acoust. April 2008; 130(2): 021014. https://doi.org/10.1115/1.2776338
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