Bench-scale building controlled by a miniature AMD system for education in control engineering

This paper presents one education system for control engineering, which consists of a two-floor building structural model with a moving controllable cart device lying on the top floor, namely a miniature AMD control system. The structure is controlled by the AMD, when it vibrates subjected to external disturbance. Both the calculation model and physical implementation are given according to observer based full-state feedback control design specifications, which includes designing and tuning of a proportional-velocity (PV) position controller, mathematically modeling the system´s state-space representation through Lagrange´s method, designing and tuning of a full-order state-observer based on the structural acceleration feedback, at last designing a real-time mode-switching experiment using a predefined logic sequence to alternate between a mode of repeatable structural excitation and an active mass damping control mode to depress the structure´s vibration to show the effectiveness of using AMD control system in suppressing structural vibration. The results show the procedures using AMD device system in control engineering education.