Optimizing Input Shaping for Flexible Beam Vibration Control Using Self-Adaptive Differential Evolution
DOI:
https://doi.org/10.18196/jrc.v6i3.26324Keywords:
Flexible Cantilever Beam, Input Shaping Control, Self-Adaptive Differential Evolution, Vibration Control, JADEAbstract
This study develops a control strategy for the flexible beam linked to a moving hub utilizing input shaping control. The input shaping control technique is an open-loop control approach that employs a shaped command to suppress the undesired vibration. This command is formed by convolving the original command with input shapers (a sequence of impulses with amplitude and temporal location). Unlike the conventional input shaping control, which calculates the input shapers based on the system's natural frequencies and attenuation ratios, a metaheuristic input shaper searcher based on the self-adaptive differential evolution algorithm is employed in this paper to identify the optimal input shapers. Using this algorithm, the specifications of input shapers, including the amplitudes and time locations, can be optimized to ensure that the cost function corresponding to the position error and beam’s vibration approaches the global minimum value. The control performance is proved via the numerical simulation. The simulation results demonstrate that input shaping control utilizing optimized input shapers can significantly reduce residual vibrations in the beam. While this control strategy requires substantial computational resources and longer computation times to develop the optimal input shapers compared to traditional techniques, the effectiveness of the optimal input shapers in attenuating vibrations is remarkable.
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