Vibrational Control of a Cantilever Beam Using Sensor and Actuator Averaging Methods

Abstract

In this paper, governing equations for cantilever beams are derived. We go over sensor and actuator averaging, a method to create a spatial filter that is insensitive to model parameter uncertainty. We develop a controller to actively control cantilever beam vibration using accelerometer input. The controller is a classic single-sensor single-actuator system that achieves a phase margin of 31° and bandwidth of 3.5 kHz. We then use the same controller but implement a sensor averaging method to achieve a phase margin of 45° with the same bandwidth. Therefore, we increase our phase margin by almost 50% at almost no cost to the controls designer.