Persons at STU
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Basic information about a final thesisAdditional informationAdditional information about the final thesis follows. Click on the language link to display the information in the desired language.
|Language of final thesis:||English|
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|Title of the thesis:||Predictive Control of Flexible Mechatronic Systems|
|Summary:||This thesis deals with the problem of vibration suppression of flexible mechatronic systems. For this purpose, discrete-time control systems have been developed and tested. The initial stage of this thesis is based on the analysis of a flexible cantilever beam. The modal analysis of this flexible system was realized using Ansys. According to the results of this analysis, we have determined the convenient mode shape to control. In this sense, a positive position feedback controller was developed and tested first. The second chapter of this thesis is based on the design of two suitable control systems for vibration attenuation of the flexible beam. Firstly, an explicit MPC controller is designed using the Matlab multi-parametric toolbox. Lastly, a discrete-time H-Infinity controller is developed and tested using an xPC target real-time system. The third chapter consists on the vibration detection system development. In this case a piezoelectric diaphragm is analyzed. Due to the fact that the sensor signal is too weak and noisy, an electronic circuit for signal conditioning was developed. Thus, the conditioned signal was read in real-time using Matlab and a microcontroller board based on the Atmega328. Finally, the last stage of this thesis consists on the design of a flexible mechatronic system suitable for laboratory vibration testing. In this sense, a single-link flexible manipulator has been developed. The last two chapters deal with the design and real-time implementation of two convenient controllers for vibration suppression of the single-link flexible manipulator. Firstly, a linear quadratic controller is designed. This controller is developed using matlab/simulink and tested using the Matlab xPC target toolbox. It is important to remark that the state-space model of the flexible manipulator has been obtained experimentally. For this purpose, we have used the Matlab system identification toolbox. Lastly, a model-based predictive controller is designed and tested in real-time.|
|Key words:||Predictive Control, Subspace System Identification, Active Vibration Control|
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