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Vibration Control for Nonlinear Mechanical Systems with Relative Information
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| Title: | Vibration Control for Nonlinear Mechanical Systems with Relative Information |
| Other Titles: | 非線形メカニカルシステムに対する相対情報を用いた制振制御 |
| Authors: | Hao, Sheng Browse this author |
| Keywords: | Vibration control | | nonlinear system | | port-Hamiltonian | | passivity-based control | | IDA-PBC |
| Issue Date: | 24-Mar-2022 |
| Publisher: | Hokkaido University |
| Abstract: | In this dissertation, vibration controllers based on relative information for nonlinear mechanical systems are proposed. Vibration suppression is a core concern in mechanical system design. With the advancement of society’s informatization, the demand for vibration control for information technology has grown in recent years. For decades, active vibration reduction technologies have been employed in mechanical systems. Unfortunately, most active vibration control approaches are based on the premise that all states are precisely understood. It will be simple for sensors to observe the state if it is relative information with a reference plane. If the reference plane, on the other hand, vibrates, it is impossible to determine the absolute location and velocity using affordable sensors. The key idea of the proposed controllers is to use the passivity properties of the mechanical systems and skyhook strategies. Interconnection and damping assignment passivity based control (IDA-PBC) method is applied in most of our results due to its theoretical advantages on energy shaping and stabilization of nonlinear systems. The content of this dissertation is as follows. In Chapter 1, we illustrate this study’s background and the motivation. Chapter 2 considers the vibration control problem for the system with an external control force. Any floating nonlinear mechanical structure with spring and damper can be used to represent the system under consideration. The matching condition between the controllable and desired systems is derived. We derive a control law with some limitations and some free parameters. Only relative information, which is easily measured, is used by the controller. In comparison to earlier work, we offer a novel parameter design technique for more generalized nonlinear controlled devices. The inertia matrix of the intended closed-loop system is determined using differential equations. The IDA-PBC approach theoretically guarantees the stability of the nonlinear closed-loop system. We have presented a parameter selection strategy that is both efficient and effective in providing a decent vibration suppression effect. The suggested control law achieved a virtual skyhook damper utilizing just relative information under the specified parameter selection. The suggested controller’s vibration impact is confirmed by simulation results for an example. Chapter 3 considers the vibration control problem for the system with an internal control force. We present a new nonlinear active dynamic vibration absorber control system in which the information of the controller is not based on the world-coordinate information. The proposed method can simultaneously control the vibrations that are excited by a force disturbance and velocity disturbance. The control law uses only the relative displacement and velocity of the vibration system, which can be easily measured by sensors. We revealed the equality and inequality constraints for matching the plant system with the desired system. The numerical solutions of the partial differential equations are not required with our proposed method. The main idea of the controller design is to convert a nonlinear DVA system into a desired system with multiple virtual springs and dampers. We also derived selection guidelines for the parameters of the desired system. The global asymptotical stability is guaranteed automatically through passivity-based control theory, although the parameter design is based on linearization. In Chapter 4, the input-to-state stability (ISS) analysis for nonlinear systems with multiple disturbances is proposed. For a class of nonlinear mechanical Hamilton systems with a force noise and a velocity noise, we build an ISS Lyapunov function. The system is divided into two types: one with a force disturbance and the other with a feedback input and a velocity disturbance. Then, for each of those two systems, we built the ISS Lyapunov function. The construction is based on a number of assumptions regarding the system parameters, all of which are easily met in practice.
Chapter 5 proposes a novel IDA-PBC design for a quarter car nonlinear active suspension system. We develop a feedback rule based solely on the relative displacement and velocity of the suspension system, whereas most previous research has relied on absolute data. It is calculated by obtaining the suspension system’s port-Hamiltonian form from the dynamics of the suspension system and rewriting it using relative coordinates.A low-cost sensor may be employed in practice with our unique controller. There is a proposal for an IDA-PBC-based controller design for an active suspension system with a nonlinear spring, a nonlinear damper, and mass uncertainty. Unlike other IDA-PBC implementations, our approaches focus on changing the nonlinear suspension system into a desired linear system with perfect aseismatic features, which tend to regulate the position or velocity. We design a virtual vehicle body, an unsprung mass, and damper coefficients in addition to a standard controller utilizing the skyhook control approach. We establish the requirements that guarantee the suspension system’s global asymptotic stability in the absence of model errors or disturbances, as well as parameter selection suggestions that can assure robust stability in the face of parameter uncertainties in the mass, springs, and dampers. Variations in passenger numbers and vehicle body loads, as well as aging suspension parts and measurement mistakes, can all contribute to these inaccuracies. Chapter 6 describes the conclusion of this dissertation. |
| Conffering University: | 北海道大学 |
| Degree Report Number: | 甲第15084号 |
| Degree Level: | 博士 |
| Degree Discipline: | 情報科学 |
| Examination Committee Members: | (主査) 教授 山下 裕, 教授 小野里 雅彦, 教授 金井 理, 准教授 小林 孝一 |
| Degree Affiliation: | 情報科学院(情報科学専攻) |
| Type: | theses (doctoral) |
| URI: | http://hdl.handle.net/2115/85514 |
| Appears in Collections: | 学位論文 (Theses) > 博士 （情報科学）
課程博士 (Doctorate by way of Advanced Course) > 情報科学院(Graduate School of Information Science and Technology)
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