Research On Adaptive Control Method For Cantilever Beam Vibration Suppression

Because of its light weight and good flexibility,flexible manipulators are more and more widely used in aerospace and precision instruments manufacturing,the requirements for it become higher.In order to solve the residual vibration caused by flexible manipulator affect its accuracy and stability problems,put forward scheme to suppress the vibration of Lyapunov stability theorem by model reference adaptive control method based on,so as to eliminate residual vibration.The flexible manipulator is simplified as Bernoulli Euler beam model for piezoelectric film(PVDF)sensor,Labview controller,model reference adaptive method of piezoelectric stack actuator as the main research object of the idea of their inhibition of vibration control based on.First of all,the paper introduces the purpose of suppressing the vibration.The research content and plan is determined by reading the literature at home and abroad.Then the model of adaptive control theory is studied,the vibration suppression scheme for model referring for adaptive control method based on Lyapunov stability theorem is proposed.Then the differential equation of transverse vibration and differential equation of transverse vibration under modal coordinate of cantilever beam system are established.The angular frequency and natural frequency of the cantilever beam model are calculated.The simulation of cantilever beam model is carried in ANSYS Workbench software environment.With the analysis of the calculation results and the simulation results,the correctness of the cantilever beam model is verified.In order to achieve better control effect,the transient vibration of the sensor/actuator is optimized by Workbench based on the correct cantilever beam model.Next,the state space equation and transfer function are obtained by the differential equation of the transverse vibration of the cantilever beam model.The system differential equation transformed by the transfer function is used as the parameter model for parameter identification.The natural frequency of the vibration signal is identified by band-pass filter and recursive least squares method.The model referring for adaptive control method based on Lyapunov stability theory is used to design an adaptive controller for piezoelectric vibration suppression of cantilever beam.Using the MATLAB software to simulate the controller,through the analysis of the response of the controller under the impulse function,it shows that the controller can achieve the effect of vibration suppression.Finally,the experiment platform of cantilever beam vibration suppression adaptive control is built according to the design scheme.The effect of vibration suppression control of cantilever beam is verified experimentally.The experimental results show that the model referring for adaptive control system based on Lyapunov stability theory can effectively suppress the vibration of the cantilever beam.With the vibration suppression control,the cantilever beam's vibration time from beginning to stable is shortened and becomes 17%of the uncontrolled state.