Dual-Actuated Vibration Isolation Technology for a Rotary System’s Position Control on a Vibrating Frame: Disturbance Rejection and Active Damping

A vibration isolation technology for precise position
control of a rotary system powered by two permanent magnet DC
(PMDC) motors is proposed, where this system is mounted on an
oscillatory frame. To achieve vibration isolation for this system,
active damping and disturbance rejection (ADDR) technology
is presented which introduces a cooperation of a main and
an auxiliary PMDC, controlled by discrete-time sliding mode
control (DTSMC) based schemes. The controller of the main
actuator tracks a desired position and the auxiliary actuator
simultaneously isolates the induced vibration, as its controller
follows a torque trend. To determine this torque trend, a
combination of two algorithms is introduced by the ADDR
technology. The first torque-trend producing algorithm rejects
the disturbance by counteracting the perturbation, estimated
using a model-based observer. The second torque trend applies
active variable damping to minimize the oscillation of the output
shaft. In this practice, the presented technology is implemented
on a rotary system with a pendulum attached, mounted on a
linear actuator simulating an oscillation-transmitting structure.
In addition, the obtained results illustrate the functionality of the
proposed technology.




References:
[1] C. R. Fuller, S. J. Elliott, and P. A. Nelson, Active vibration
control. Academic Press, 1996.
[2] R. E. Cunningham, “Steady-State Unbalance Response of
a Three-Disk Flexible Rotor on Flexible, Damped Supports,”
J. Mech. Des., vol. 100, pp. 563–573, 1978.
[3] J. L. Nikolajsen and R. Holmes, “Investigation of
Squeeze-Film Isolators for the Vibration Control of a Flexible
Rotor,” J. Mech. Eng. Sci., vol. 21, no. 4, pp. 247–252, 1979.
[4] T. Inoue, T. Sugai, and Y. Ishida, “Vibration Suppression
of the Rotating Shaft using the Axial Control of the Repulsive
Magnetic Bearing,” J. Syst. Des. Dyn., vol. 4, no. 4, pp.
575–589, 2010.
[5] T. Inoue, H. Niimi, and Y. Ishida, “Vibration suppression
of the rotor system using both a ball balancer and axial control
of the repulsive magnetic bearing,” J. Vib. Control, vol. 18, no.
4, 2010.
[6] A. Javed, T. Mizuno, M. Takasaki, I. Yuji, M. Hara, and
D. Yamaguchi, “Lateral Vibration Suppression by Varying
Stiffness Control in a Vertically Active Magnetic Suspension
System,” Actuators, vol. 7, 2018.
[7] C. Lusty and P. Keogh, “Active Vibration Control of a
Flexible Rotor by Flexibly Mounted Internal-Stator Magnetic
Actuators,” IEEE/ASME Trans. Mechatronics, vol. 23, no. 6,
2018.
[8] C. . Knospe, R. . Hope, S. . Tamer, and S. . Fedigan,
“Robustness of Adaptive Unbalance Control of Rotors with
Magnetic Bearings,” J. Vib. Control, vol. 2, no. 1, 1996.
[9] S. Li, J. Yang, W.-H. Chen, and X. Chen, Disturbance
Observer-Based Control: Methods and Applications. CRC
Press, 2016.
[10] W. A. S. P. Abeysiriwardhana and A. M. H. S. Abeykoon,
“Simulation of active vibration suppression using internal
motor sensing,” in 7th International Conference on Information
and Automation for Sustainability, 2014.
[11] S. Khan and A. Sabanovic, “Discrete-time Sliding Mode
Control of High Precision Linear Drive using Frictional
Model,” in 9th IEEE International Workshop on Advanced
Motion Control, 2006.
[12] A. Jafari Koshkouei and A. S.I.Zinober, “Discrete-Time
Sliding Mode Control Design,” IFAC Proc. Vol., vol. 29, no.
1, pp. 3350–3355, 1996.
[13] P.Sen, Principles of Electric Machines and Power
Electronics, 3rd ed. John Wiley & Sons, 2013.
[14] E. Hairer, S. P. Norsett, and G. Wanner, Solving Ordinary
Differential Equations. Springer, 1987.
[15] M. Athans, Modern Control Theory. Center for Advanced
Engineering Study, Massachusetts Institute of Technology,
1974.