ACMFMS 2012, IIT Delhi

December 5-8 2012
S B Chennuri S P Singh J K Dutt
Dept. of Mech. Engg. Dept. of Mech. Engg. Dept. of Mech. Engg.
Lingayas University IIT Delhi IIT Delhi
 Mechanical Engineering
 Robotics

08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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Introduction
Applications
• Manufacturing constraints, may lead to offset support
condition in Beams.
• Offset condition in the boundary condition of beam like
structures results in nonlinear behavior of beams.
• Mathematically, the models
which are used define the
cracks have their
equivalence to offset
condition in beams.
 Civil Engineering
 Aerospace Engineering
Aim
Vibration control of Bilinear
cantilever beam using Adaptive
Linear Quadratic Controller
08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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Design of Optimal Controller for an Offset system
Modeling and State Space Formulation:-
08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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| |{ } | |{ } | |{ } | |{ } { } | |{ }
( )
T
ext c
M x C x K x E f Q f D u t
(
+ + = + +
¸ ¸
Q
(
¸ ¸
Where represents Contact location matrix
{ }
c
f Contact disturbance
( )
( )
| | | | | | | |
( )
( ) | || |
{ }
| || |
{ }
| |
{ }
ext c
x t x t
u f f
M D M E M Q x t x t
M K M C
÷ ÷
(
(
¦ ¹ ¦ ¹ ( (
¦ ¦ ¦ ¦
= + + + (
(
´ ` ´ ` ( (
(
÷ ÷
¦ ¦ ¦ ¦ (
( ¸ ¸ ¸ ¸ ¹ ) ¹ )
¸ ¸ ¸ ¸
¸ ¸
1 1
1 1
2 2
0
0 1
0 0
{ } | |{ } { } { } | |{ }
ext c
x A x B u B f B f ( ( = + + +
¸ ¸ ¸ ¸
1 2 3
{ } | |{ }
y L x =
Linear Quadratic Regulator
08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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{ } | |{ }
( ) ( ) u t G x t = ÷
| | | || |
G R B P
÷
=
1
1
Algebraic Riccati Equation
| || | | | | | | | | || | | | | | | |
T T
P A A P Q P B R B P
÷
+ + ÷ =
1
1 1
0
Minimizing Cost Function is defined as
( ) ( ) ( ) ( )
T T
J x t Qx t u t Ru t dt
·
(
= +
¸ ¸ }
0
The Linear Quadratic controller is the unique, optimal, full state feedback
control law that minimizes the cost , J, Subject to the dynamic constraints
imposed by the open loop dynamics
{ } { } { }
*
T
t t t t t t
K X Q F S
+A +A +A
(
( ÷ =
¸ ¸
¸ ¸
{ } | | | | | |
*
K K C M C C = + +
0 1
{ } | | { } { } { } ( )
| | { } { } { } ( )
{ }
t t t t t t t t
t t
ext
S M C X C X C X C C X C X C X
f
+A
+A
= + + + + +
+
0 2 3 1 4 5
{ } { }
( )
*
t t
t t t t
X K S Q F
÷
+A
+A +A
(
( = +
¸ ¸
¸ ¸
1
{ } { }
* *
T
t t t t
Q K Q F Q K S
÷ ÷
+A +A
( ( (
( ( ÷ =
¸ ¸ ¸ ¸
¸ ¸ ¸ ¸ ¸ ¸
1 1
Equation of motion without the control can be written as
Newmark Recurrence relations
Where
Numerical Example
A cantilever beam of 1.2mm thickness, 20mm width and 200mm length with an
offset support for a distance of 5mm is considered for analysis in this paper.
Table 1: First mode eigen values for an offset of 5mm
Offset Positive

Negative
0 155 rad/sec 155 rad/sec
5 mm 155 rad/sec 159 rad/sec
n
e
1
n
e
2
Impulse response with an offset of 5mm
08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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Impulse response with an offset of 5mm
Optimum LQR
08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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Impulse response with an offset of 5mm
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Optimum Adaptive LQR
Impulse response with an offset of 5mm
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Harmonic excitation
Dynamic response with an offset of 5mm
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Dynamic response with an offset of 5mm
Optimum LQR
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Dynamic response with an offset of 5mm
Optimum Adaptive LQR
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Conclusions :
•An optimal adaptive LQR controller was
designed for the active vibration control of
beams with offset support which behave as a
bilinear system.

•The proposed adaptive optimal controller, the
higher harmonics arising out of nonlinearity get
very effectively suppressed.
08/12/2012 S. Chennuri, Dept of Mech Engg, Lingaya's University
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