COMPLEX MODE ACTIVE VIBRATION CONTROL OF HIGH-SPEED FLEXIBLE LINKAGE MECHANISMS

A methodology for suppressing the elastodynamic response of high-speed flexible linkage mechanisms with piezoelectric elements is developed. The finite element active vibration control model is given by a mixed variational approach with Hamiltonʹs principle. On the basis of complex mode theory, a hybrid independent modal controller is developed, which is composed of state feedback and disturbance feedforward control laws. As an illustrative example, the strategy is used to control the elastic vibration response of a four-bar linkage mechanism. The simulation results show that the vibration is efficiently suppressed.