Optimal Active Damping Performance in Presence of Disturbance and Electronic Noise Sources
C.A. Verhoog (TU Delft - Mechanical Engineering)
M.B. Kaczmarek – Mentor
S.H. Hassan HosseinNia – Mentor (TU Delft - Mechatronic Systems Design)
Farbod Alijani – Graduation committee member (TU Delft - Dynamics of Micro and Nano Systems)
M.A.C.C van den Hurk – Mentor (VDL ETG)
More Info
expand_more
Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.
Abstract
Vibration attenuation in lightly damped blade-like systems such as cantilevers or end-effectors of robot manipulators can be dampened using Active Vibration Control (AVC). Piezoelectric patches in a collocated setup measure and control the bending modes of such a cantilever system using Positive Position Feedback (PPF). Tuning methods for PPF are based on optimisations for maximum disturbance rejection and disregard the presence of electronic noise. However, because electronic noise is amplified by controllers with high gains, it can become a significant error source in the system. In this paper, the effect of noise amplification is investigated for blade-like AVC systems. It is shown that there is a trade-off in the total dynamic error between vibration attenuation and noise amplification. An optimisation of this trade-off is proposed, which is performed on an industrial example of a blade-like system and validated experimentally. The optimisation shows clear improvement over traditional tuning methods that disregard the presence and effect of noise.