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
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
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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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