Adaptive non-model-based vibration control of critical flexible modes in mechatronic systems

Abstract

Robust vibration control of critical flexible modes in flexible mechanical structures is crucial for synergistic integration of R&D and manufacturing of modern mechatronic systems. In this paper, an adaptive non-model-based control is implemented to the piezoelectric (PZT) actuated flexible structure for enhanced vibration suppression on critical flexible modes in mechatronic systems. The strain signal of the PZT actuators is extracted by a self-sensing circuit and used in the adaptive feedback term along with a PID control to directly compensate for the vibration of the PZT-actuated flexible structure. The adaptive scheme, which is derived based on a simple energy function, ensures elimination of the control/observer spillover and stability of the closed-loop system. Extensive simulations and experiments have been conducted to evaluate the effectiveness of the adaptive scheme in vibration suppression on the critical flexible modes of the PZT-actuated suspension in a commercial dual-stage hard disk drive. The implementation results show that the adaptive scheme is robust against flexible mode fluctuations, and the vibration suppression performance is greatly improved. © 2011 IFAC.