| dc.description.abstract | The vibration of axially moving materials with arbitrarily varying length has received
increased attention due to both the interesting behaviours of such systems and the many
applications such as deep mine hoisting systems, high-speed elevator systems and robotic
arms in a prismatic joint. Vibration control is needed for such system; especially when
there are safety, speed, and precision concerns. The model governing vibration of such
systems is time varying. Control of time-varying systems poses many challenges. The
objective of this research is to develop an experimental system to study the dynamics of a
travelling cable with variable length and to test control strategies for vibration
suppression.
In this research, an experimental system is developed, which includes a travelling
cable apparatus, a signal conditioning circuit board, a data acquisition board, a computer
system, and sensors. The mathematical models of the lateral vibration of stationary and
axially moving cables are presented. Computer simulations are performed to understand
the dynamics of the travelling cable. A preliminary testing of the experimental system is
preformed
Boundary control method is used to suppress the vibration of the cable. Two closed-loop
feedback control systems, direct velocity feedback control and observer output
feedback control with optimal feedback gains, are designed to suppress the vibration of
the stationary cable. Both control systems are simulated by computer and tested by
experiment. An observer-based feedback control system with variable optimal feedback
gains is designed to suppress the vibration of the travelling cable. The performance of the
controller is tested using computer simulations. | |
