In this paper, we present a first attempt at using an energy based control technique to regulate the oscillations of a flexible joint, flexible arm device, through computer simulation. This technique takes advantage of the Internal Resonance (IR) phenomenon. The plant is governed by two coupled linear differential equations. The control scheme is implemented by introducing two software based controllers which are coupled dynamically with the plant through a nonlinear feedback control law. At Internal Resonance, the nonlinear coupling generates an energy link between the plant and the controllers. Thus, energy is transferred from the plant to the controllers where two active damping mechanisms subsequently dissipate it. Here the response of the structure is regulated with a single input torque applied to one plant coordinate. The theoretical analysis is based on the two-variable expansion perturbation method. Thereafter, the analytical findings are verified numerically. Simulation results indicate that the IR control strategy is able to effectively quench the oscillations of the plant.
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June 1995
Technical Briefs
Regulation of a Two-Degree-of-Freedom Structure Using Internal Resonance
Shafic S. Oueini,
Shafic S. Oueini
Department of Mechanical Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
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Kevin L. Tuer,
Kevin L. Tuer
Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
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M. Farid Golnaraghi
M. Farid Golnaraghi
ConStruct Group, Department of Mechanical Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
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Shafic S. Oueini
Department of Mechanical Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
Kevin L. Tuer
Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
M. Farid Golnaraghi
ConStruct Group, Department of Mechanical Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
J. Dyn. Sys., Meas., Control. Jun 1995, 117(2): 247-251 (5 pages)
Published Online: June 1, 1995
Article history
Received:
May 4, 1993
Online:
January 22, 2008
Citation
Oueini, S. S., Tuer, K. L., and Golnaraghi, M. F. (June 1, 1995). "Regulation of a Two-Degree-of-Freedom Structure Using Internal Resonance." ASME. J. Dyn. Sys., Meas., Control. June 1995; 117(2): 247–251. https://doi.org/10.1115/1.2835186
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