Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods
Name
rodriguez-andrerod-sb-meche-2024-thesis.pdf
Description
Thesis PDF
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332.23 KB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Rodriguez, Andre
Advisor(s)
Trumper, David L.
Date Issued
May 2024
Publisher
Massachusetts Institute of Technology
Abstract
In this paper, governing equations for cantilever beams are derived. We go over sensor and actuator averaging, a method to create a spatial filter that is insensitive to model parameter uncertainty. We develop a controller to actively control cantilever beam vibration using accelerometer input. The controller is a classic single-sensor single-actuator system that achieves a phase margin of 31° and bandwidth of 3.5 kHz. We then use the same controller but implement a sensor averaging method to achieve a phase margin of 45° with the same bandwidth. Therefore, we increase our phase margin by almost 50% at almost no cost to the controls designer.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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