Abstract

The need for fast maneuvering and accurate positioning of flexible structures poses a control challenge. The flexibility inherent in these lightly damped systems creates large residual vibrations in response to fast disturbances. Several control approaches have been proposed to tackle this class of problems, of which the input shaping technique seems quite appealing. While input shaping has been widely investigated to attenuate residual vibrations in flexible structures, less attention was granted to expand its viability in further applications. It is therefore the aim of this work to develop a methodology for applying input shaping techniques to suppress sloshing effects in open moving containers to facilitate safe and fast point-to-point movements. The liquid behavior is modeled using finite element analysis. The input shaper parameters are optimized to find the commands that would result in minimum residual vibration. Other objectives, such as improved robustness and motion constraints such as deflection limiting are also included in the optimization scheme. Numerical results are verified on an experimental setup consisting of a small motor-driven water tank that is precisely guided to undergo rectilinear motion, while measuring both the tank motion and free surface displacement of the water. The results obtained suggest that input shaping is an effective method for suppressing residual liquid vibrations.

Department

Mechanical Engineering Department

Degree Name

MS in Mechanical Engineering

Date of Award

2-1-2008

Online Submission Date

February 2013

First Advisor

Arafa, Mustafa

Committee Member 1

Arafa, Mustafa

Committee Member 2

Nassef, Ashraf

Document Type

Thesis

Extent

91 p.

Rights

The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy. The author has granted the American University in Cairo or its agents a non-exclusive license to archive this thesis, dissertation, paper, or record of study, and to make it accessible, in whole or in part, in all forms of media, now or hereafter known.

IRB

Not necessary for this item

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