Abstract: This paper presents an investigation into the development of an adaptive active control
mechanism for vibration suppression using genetic algorithms (GAs). GAs are used to estimate the
adaptive controller characteristics, where the controller is designed on the basis of optimal vibration
suppression using the plant model. This is realized by minimizing the prediction error of the actual plant
output and the model output. A MATLAB GA toolbox is used to identify the controller parameters. A
comparative performance of the conventional recursive least-squares (RLS) scheme and the GA is
presented. The active vibration control system is implemented with both the GA and the RLS schemes, and
its performance assessed in the suppression of vibration along a flexible beam structure in each case.
Keywords: active vibration control, genetic algorithms, recursive least squares, flexible beam structure
Consider a cantilever beam of length L, fixed at one end A schematic diagram of an AVC structure is shown in Fig.
and free at another, with a force U (x, t) applied at a 1a. An unwanted (primary disturbance) point source emits
distance x from its fixed (clamped) end at time t, resulting broadband disturbance into the structure. This is detected
in a deflection y(x, t) of the beam from its stationary by a detector, processed by a controller of suitable transfer
(unmoved) position at the point where the force has been characteristics and fed to a cancelling (secondary) point
applied. The motion of the beam in transverse vibration is, actuator. The secondary (control) signal thus generated
thus, governed by the well-known fourth-order partial interferes with the disturbance so as to achieve a reduction
differential equation (PDE) (12, 13) in the level of vibration at an observation point along the
structure.
A frequency-domain equivalent block diagram of the
@ 4 y(x, t) @ 2 y(x, t) 1
2 U (x, t) (1) AVC structure is shown in Fig. 1b, where E, F, G and H are
@x 4 @ t2 m
transfer functions of the paths between the primary source
and the detector, secondary source and the detector, primary
where is a beam constant given by 2 EI=(rA) with r, source and the observer and secondary source and the
A, I and E representing the mass density, cross-sectional observer respectively. M, M O , C and L are transfer charac-
area, moment of inertia of the beam and the Young teristics of the detector, the observer, the controller and the
modulus respectively, and m is the mass of the beam. The secondary source respectively. U D and U C are the primary
corresponding boundary conditions at the fixed and free and secondary signals at the source locations, whereas YOD
ends of the beam are given by and YOC are the corresponding signals at the observation
Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997
Fig. 1 Active vibration control structure: (a) schematic diagram, (b) block diagram
point respectively. U M is the detected signal and YO is the Equation (4) is the required controller design rule given
observed signal. The block diagram in Fig. 1b can be in terms of transfer characteristics Q0 and Q1 which can be
thought of either in the continuous frequency (s) domain or measured=estimated on-line. An on-line design and im-
discrete frequency (z) domain. Therefore, unless specified, plementation of the controller can thus be achieved by
the analysis and design developed in this paper apply to both obtaining Q0 and Q1 using a suitable system identification
the continuous-time and the discrete-time domains. algorithm, then using equation (4) to calculate the con-
troller transfer function and implementing this on a digital
processor. Moreover, to monitor system performance and
3.1 Controller design
update the controller characteristics upon changes in the
For complete cancellation of the disturbance to be achieved system a supervisory level control can be utilized. This
at the observation point YO must be forced to become zero. results in a self-tuning AVC mechanism. The supervisor is
This is equivalent to the minimum variance design criterion designed to monitor system performance on the basis of a
in a stochastic environment. This requires the primary and prespecified quantitative measure of cancellation as an
secondary signals at the observation point to be equal in index of performance, so that if the cancellation achieved is
amplitude and have a phase difference of 1808 relative to within the specified range then the algorithm implementa-
one another. To allow the development of a self-tuning AVC tion remains at the control level. However, if the cancella-
algorithm, consider the system in Fig. 1 with the detected tion is outside the specified range then self-tuning is
signal, UM , as input and the observed signal, YO , as output. reinitiated at the identification level. The supervisory level
Moreover, owing to the state of the secondary source, let the can also be facilitated with further levels of intelligence
system behaviour be characterized by two subsystems, such as monitoring system stability, system performance in
namely, when the secondary is off, with an equivalent a transient period and validation of the plant model at the
transfer function denoted by Q0, and when the secondary identification level.
source is on, with an equivalent transfer function denoted by In implementing the self-tuning control algorithm de-
Q1 . Thus, synthesizing the controller within the block scribed above, several issues of practical importance need
diagram of Fig. 1b on the basis of the above objective yields. to be given careful consideration. These include properties
of the disturbance signal, robustness of the estimation and
Q1 1 control, system stability and processor-related issues such
C 1 (4)
Q0 as word length, speed and computational power (2, 13).
I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I
Fig. 2 Performance of the GA based models: (a) desired (solid line) and estimated (dashed line) output
for Q0 ; (b) desired (solid line) and estimated (dashed line) output for Q1
I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I
Fig. 3 Performance of the RLS-based models: (a) desired (solid line) and estimated (dashed line)
output for Q0 ; (b) desired (solid line) and estimated (dashed line) output for Q1
Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997
Fig. 4 System response at the observation point with the GA-based AVC system: (a) before
cancellation, (b) after cancellation
I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I
Fig. 5 Beam fluctuation along its length with the GA-based AVC system: (a) before cancellation,
(b) after cancellation
resonance modes were slightly reinforced. This was due to To compare with a conventional RLS-based AVC
the low-order linear model considered in the estimation system, the controller was also implemented in a similar
process mainly to account for the highly dominant modes. manner utilizing the RLS estimator. Figure 6 shows the
This suggests that better cancellation may be achieved with performance of the RLS-based AVC system at the observa-
a higher order model or by using a non-linear model. tion point. The corresponding time-domain fluctuation
Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997
Fig. 6 System response at the observation point with the RLS-based AVC system: (a) before
cancellation, (b) after cancellation
I02696 # IMechE 1997 Proc Instn Mech Engrs Vol 211 Part I
along the beam length is shown in Fig. 7. It was noted, modes were slightly reinforced. Thus, it can be concluded
through a spectral density representation of the results in from this investigation that the conventional RLS-based
Fig. 6, that a cancellation of about 8 dB was achieved at the AVC system is unimpressive as compared to the GA-based
first resonance mode and 0.28 dB at the second resonance system.
mode. The vibrations at the third and fourth resonance It was noted in the experiments above that the execution
Fig. 7 Beam fluctuation along its length with the RLS-based AVC system: (a) before cancellation,
(b) after cancellation
Proc Instn Mech Engrs Vol 211 Part I I02696 # IMechE 1997
time of the GA-based algorithm was substantially more 2 Tokhi, M. O. and Leitch, R. R. Design and implementation
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