Vibration suppression for a beam-cart system using adaptive fuzzy controller

Motion and control of a Bernoulli-Euler beam fixed on a moving cart will be analysis in this study. The moving cart is mounted on the ball-screw mechanism system. Dynamic formulation for control purposes is first investigated for such beam-cart system in this research. The controller has two separate feedback loops for positioning and damping, and the vibration suppression controller is independent of linear motion stage positioning control. An experimental apparatus was constructed, constituted of a flexible cantilever aluminum beam type structure with piezoelectric patches symmetrically bonded on both sides to provide structural bending. Strip-bender type piezoelectric patches were attached to the surface of the beam to serve as actuators and sensor, respectively. Experimental validation of for such structure demonstrates the effectiveness of the proposed controller. The results of this study can be feasible to various mechanical systems, such as high tower cranes, ladder cars or overhead cranes.