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E-raamat: Modeling and Control of Vibration in Mechanical Systems

(Nanyang Technological University, Singapore), (Data Storage Institute, Singapore)
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Modeling and Control of Vibration in Mechanical SystemsSuurem pilt
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From the ox carts and pottery wheels the spacecrafts and disk drives, efficiency and quality has always been dependent on the engineers ability to anticipate and control the effects of vibration. And while progress in negating the noise, wear, and inefficiency caused by vibration has been made, more is needed.

Modeling and Control of Vibration in Mechanical Systems answers the essential needs of practitioners in systems and control with the most comprehensive resource available on the subject.

Written as a reference for those working in high precision systems, this uniquely accessible volume:











Differentiates between kinds of vibration and their various characteristics and effects Offers a close-up look at mechanical actuation systems that are achieving remarkably high precision positioning performance Includes techniques for rejecting vibrations of different frequency ranges Covers the theoretical developments and principles of control design with detail elaborate enough that readers will be able to apply the techniques with the help of MATLAB® Details a wealth of practical working examples as well as a number of simulation and experimental results with comprehensive evaluations

The modern worlds ever-growing spectra of sophisticated engineering systems such as hard disk drives, aeronautic systems, and manufacturing systems have little tolerance for unanticipated vibration of even the slightest magnitude. Accordingly, vibration control continues to draw intensive focus from top control engineers and modelers. This resource demonstrates the remarkable results of that focus to date, and most importantly gives todays researchers the technology that they need to build upon into the future.

Chunling Du is currently researching modeling and advanced servo control of hard disk drives at the Data Storage Institute in Singapore. Lihua Xie is the Director of the Centre for Intelligent Machines and a professor at Nanyang Technological University in Singapore.
Preface xi
List of Tables
xiii
List of Figures
xv
Symbols and Acronyms xxiii
Mechanical Systems and Vibration
1(16)
Magnetic recording system
1(1)
Stewart platform
2(2)
Vibration sources and descriptions
4(1)
Types of vibration
5(6)
Free and forced vibration
6(1)
Damped and undamped vibration
6(1)
Linear and nonlinear vibration
6(1)
Deterministic and random vibration
6(1)
Periodic and nonperiodic vibration
7(1)
Broad-band and narrow-band vibration
8(3)
Random vibration
11(2)
Random process
11(1)
Stationary random process
12(1)
Gaussian random process
12(1)
Vibration analysis
13(4)
Fourier transform and spectrum analysis
13(1)
Relationship between the Fourier and Laplace transforms
14(1)
Spectral analysis
14(3)
Modeling of Disk Drive System and Its Vibration
17(36)
Introduction
17(1)
System description
17(2)
System modeling
19(20)
Modeling of a VCM actuator
19(4)
Modeling of friction
23(6)
Modeling of a PZT microactuator
29(1)
An example
30(9)
Vibration modeling
39(9)
Spectrum-based vibration modeling
39(4)
Adaptive modeling of disturbance
43(5)
Conclusion
48(5)
Modeling of Stewart Platform
53(10)
Introduction
53(1)
System description and governing equations
53(2)
Modeling using adaptive filtering approach
55(7)
Adaptive filtering theory
55(3)
Modeling of a Stewart platform
58(4)
Conclusion
62(1)
Classical Vibration Control
63(26)
Introduction
63(1)
Passive control
63(19)
Isolators
63(1)
Absorbers
64(1)
Resonators
64(1)
Suspension
65(1)
An application example---Disk vibration reduction via stacked disks
66(16)
Self-adapting systems
82(1)
Active vibration control
83(4)
Actuators
84(1)
Active systems
84(2)
Control strategy
86(1)
Conclusion
87(2)
Introduction to Optimal and Robust Control
89(26)
Introduction
89(1)
H2 and H∞ norms
89(3)
H2 norm
89(2)
H∞ norm
91(1)
H2 optimal control
92(4)
Continuous-time case
92(2)
Discrete-time case
94(2)
H∞ control
96(5)
Continuous-time case
96(3)
Discrete-time case
99(2)
Robust control
101(3)
Controller parametrization
104(4)
Performance limitation
108(4)
Bode integral constraint
108(3)
Relationship between system gain and phase
111(1)
Sampling
111(1)
Conclusion
112(3)
Mixed H2/H∞ Control Design for Vibration Rejection
115(18)
Introduction
115(1)
Mixed H2/H∞ control problem
115(1)
Slack variable approach
116(1)
An improved slack variable approach
117(6)
Application in servo loop design for hard disk drives
123(8)
Problem formulation
123(5)
Design results
128(3)
Conclusion
131(2)
Low-Hump Sensitivity Control Design for Hard Disk Drive Systems
133(28)
Introduction
133(1)
Problem statement
133(4)
Design in continuous-time domain
137(15)
H∞ loop shaping for low-hump sensitivity functions
137(4)
Application examples
141(7)
Implementation on a hard disk drive
148(4)
Design in discrete-time domain
152(6)
Synthesis method for low-hump sensitivity function
152(1)
An application example
153(5)
Implementation on a hard disk drive
158(1)
Conclusion
158(3)
Generalized KYP Lemma-Based Loop Shaping Control Design
161(22)
Introduction
161(1)
Problem description
162(1)
Generalized KYP lemma-based control design method
163(3)
Peak filter
166(3)
Conventional peak filter
166(2)
Phase lead peak filter
168(1)
Group peak filter
169(1)
Application in high frequency vibration rejection
169(8)
Application in mid-frequency vibration rejection
177(1)
Conclusion
178(5)
Combined H2 and KYP Lemma-Based Control Design
183(14)
Introduction
183(1)
Problem formulation
184(1)
Controller design for specific disturbance rejection and overall error minimization
185(4)
Q parametrization to meet specific specifications
185(2)
Q parametrization to minimize H2 performance
187(1)
Design steps
188(1)
Simulation and implementation results
189(5)
System models
189(1)
Rejection of specific disturbance and H2 performance minimization
190(3)
Rejection of two disturbances with H2 performance minimization
193(1)
Conclusion
194(3)
Blending Control for Multi-Frequency Disturbance Rejection
197(18)
Introduction
197(1)
Control blending
197(6)
State feedback control blending
199(1)
Output feedback control blending
200(3)
Control blending application in multi-frequency disturbance rejection
203(4)
Problem formulation
203(2)
Controller design via the control blending technique
205(2)
Simulation and experimental results
207(6)
Rejecting high-frequency disturbances
207(4)
Rejecting a combined mid and high frequency disturbance
211(2)
Conclusion
213(2)
H∞-Based Design for Disturbance Observer
215(12)
Introduction
215(1)
Conventional disturbance observer
216(1)
A general form of disturbance observer
217(3)
Application results
220(2)
Conclusion
222(5)
Two-Dimensional H2 Control for Error Minimization
227(24)
Introduction
227(1)
2-D stabilization control
228(1)
2-D H2 control
229(2)
SSTW process and modeling
231(4)
SSTW servo loop
232(1)
Two-dimensional model
233(2)
Feedforward compensation method
235(8)
2-D control formulation for SSTW
243(1)
2-D stabilization control for error propagation containment
244(1)
Simulation results
244(1)
2-D H2 control for error minimization
245(3)
Simulation results
245(2)
Experimental results
247(1)
Conclusion
248(3)
Nonlinearity Compensation and Nonlinear Control
251(10)
Introduction
251(1)
Nonlinearity compensation
251(1)
Nonlinear control
252(7)
Design of a composite control law
256(1)
Experimental results in hard disk drives
257(2)
Conclusion
259(2)
Quantization Effect on Vibration Rejection and Its Compensation
261(14)
Introduction
261(1)
Description of control system with quantizer
261(5)
Quantization effect on error rejection
266(3)
Quantizer frequency response measurement
266(1)
Quantization effect on error rejection
266(3)
Compensation of quantization effect on error rejection
269(3)
Conclusion
272(3)
Adaptive Filtering Algorithms for Active Vibration Control
275(18)
Introduction
275(1)
Adaptive feedford algorithm
275(2)
Adaptive feedback algorithm
277(3)
Comparison between feedforward and feedback controls
280(1)
Application in Stewart platform
280(10)
Multi-channel adaptive feedback AVC system
280(1)
Multi-channel adaptive feedback algorithm for hexapod platform
281(3)
Simulation and implementation
284(6)
Conclusion
290(3)
References 293(12)
Index 305
Chunling Du received her B.E. and M.E. degrees in electrical engineering from the Nanjing University of Science and Technology, Nanjing, China, in 1992, and 1995, respectively, and aPh.D degree from Nanyang Technological University, Singapore, in 2000. She is currently a senior researcher with Data Storage Institute, Singapore, where she is involved in modeling and advanced servo control of hard disk drives. Her research interests include high precision motion control, multidimensional systems, and structure health diagnosis using sensing network. She has published dozens of journal papers and the monograph H-infinity Filtering and Control of two-dimensional Systems with Professor Lihua Xie. Dr. Du is a senior member of IEEE.

Lihua Xie received his B.E. and M.E. degrees in electrical engineering from Nanjing University of Science and Technology in 1983 and 1986, respectively, and a Ph.D. degree in electrical engineering from the University of Newcastle, Australia, in 1992. Since 1992, he has been with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, where he is currently a professor and Director, Centre for Intelligent Machines. He concurrently holds Changjiang Professorship with the College of Automation, South China University of Technology.

Dr Xies research interests include robust control and estimation, networked control systems, time delay systems, control of disk drive systems and sensor networks. He has published over 170 journal papers and co-authored a number of books in his field. He is an Associate Editor of Automatica, IEEE Transactions on Control Systems Technology, the Transactions of the Institute of Measurement and Control, and an associate editor-at-large of Journal of Control Theory and Applications, and is also a member of the editorial board of IET Proceedings on Control Theory and Applications. He served as an associate editor of IEEE Transactions on Automatic Control, IEEE Transactions on Circuits and Systems-II, International Journal of Control, Automation and Systems, and on the conference editorial board for the , IEEE Control Systems Society. Dr Xie is a Fellow of IEEE and a Fellow of Institution of Engineers, Singapore.
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