Active Vibration Control of Macroscopically Smart Mechanisms

This paper presents an investigation on the active vibration control of flexible linkage mechanisms featuring piezoceramic actuators and strain gauge sensors. The dynamic equation of the macro-scopically smart mechanism is decoupled by means of the complex mode theory. The state-space expression of the controlled system is developed, which includes the system noise and the observation noise. Moreover, a discrete linear quadratic Gaussian (LQG) state feedback controller and a discrete Kalman filter are designed separately. Finally, the proposed method is applied to the on-line vibration control of a macroscopically smart mechanism. The experimental results reveal that the strain amplitude of the flexible link is suppressed by 80% and the dynamic performance of mechanism has been ameliorated significantly.