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Shock and Vibration
Volume 17, Issue 4-5, Pages 349-357
http://dx.doi.org/10.3233/SAV-2010-0531

Absolute Vibration Suppression (AVS) Control – Modeling, Implementation and Robustness

Y. Halevi and I. Peled

Technion – Israel Institute of Technology, Haifa, Israel

Received 17 June 2010; Accepted 17 June 2010

Copyright © 2010 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Absolute Vibration Suppression (AVS) is a control method for flexible structures governed by the wave equation. Such system may be a rotating shaft, a rod in tension or a crane for which the cable mass is not negligible. First an accurate, infinite dimension, transfer function, relating arbitrary actuation and measurement points, with general boundary conditions, is derived. The transfer function consists of time delays, due to the wave motion, and low order rational terms, which correspond to the reflection from the boundary. Thus the compact mathematical representation has a clear physical interpretation. Furthermore, it leads to the special structure of the AVS controller which is a collocated, rate to force feedback that completely eliminates the vibration. The paper investigates the properties of the AVS controller and its robustness to modeling errors, in particular small non-collocation.