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Title: Vibration Reduction by Command Shaping on Flexible Rotating Beam Under the Effect of Gravity
Authors: Worood Al-Munayyes 
Supervisor: Prof. Khalid Alhazza
Keywords: Flexible Rotating Beam , the Effect of Gravity
Issue Date: 2018
Publisher:  Kuwait university - college of graduate studies
Abstract: Multiple sources of vibration exist in the environment, and their presence usually lead to undesired events. Input shaping is a technique developed for minimizing residual vibrations in rest-to-rest maneuvers. In this work, a smooth sine based waveform command shaping profile is proposed to reduce residual vibrations of a vertically rotating flexible beam in restto- rest maneuvers under the effect of gravity. The system contains nonlinearities with infinite modes of vibration. The equation of motion is determined and then discretized for simplicity. Only the first mode is considered because it is the only effective mode in the system. The system inputs include the maneuvering time, maximum velocity, and final rotational angle. A comparison is performed between the uncontrolled system, double-step technique, smooth command shaping technique with optimization, and the smooth command shaping technique without optimization. The respective techniques were applied in different cases with varying maximum velocities, flexible beam lengths, and maneuvering times. The smooth command shaping technique with optimization provided the best result in terms of eliminating residual vibrations in rest-to-rest maneuvers. Its performance is followed by that of the command shaping technique without optimization, and then that of the double-step strategy. The command shaping technique proved to be very effective when compared with the uncontrolled system. The results showed that the effect of nonlinearities arises as the maximum velocity and beam length increase or maneuvering time decreases. Additionally, the results show that optimizing the shaper parameters considerably reduces the residual vibrations.
Appears in Programs:0630 Mechanical Engineering

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