Adaptive input shaping and control for simultaneous precision positioning and vibration suppression of smart composite plates

摘要

This paper focuses on simultaneous precision positioning and vibration suppression of smart composite plates with multiple piezoelectric patch actuators. Following the analysis, measurement, and estimation of a smart composite plate dynamics is the development of a multi-reference and multi-channel adaptive algorithm and an adaptive control strategy. The introduced adaptive control strategy consists of an adaptive input shaping unit and an adaptive positioning/vibration control unit, and both units are designed by applying the adaptive algorithm. The adaptive input shaping unit is used to suppress free vibration due to the smart composite plate motion and to expedite the convergence of the adaptation of the adaptive positioning/vibration controller. The adaptive positioning/vibration controller then provides precision positioning control and reduces the vibration due to the motion of the plate and/or external disturbances. In addition, an internal model configuration is employed to provide the reference needed in the adaptive control strategy and the effect of the discrepancy between the estimated dynamic model and the plate on the performance of the controller is also explored. The experiments demonstrate that the adaptive control strategy has excellent capabilities of positioning and vibration controls for various positioning and vibration conditions of the smart composite plate.