Experimental Model Predictive Vibration Control

  • Gergely Takács
  • Boris Rohal’-Ilkiv
Chapter

Abstract

This chapter presents the results of experiments comparing different computationally efficient model predictive control (MPC) methods applied to a laboratory device, demonstrating the active vibration control (AVC) of lightly damped mechanical structures. Because of the combination of long prediction horizons, short sampling times and large actuator-disturbance asymmetry, the implementation of the predictive control strategy on lightly damped vibrating structures is highly demanding. The vibration damping effect and online timing properties of model predictive control algorithms such as infinite horizon cost dual-mode quadratic programming based MPC (QPMPC), pre-computed explicit multi-parametric programming based MPC (MPMPC), minimum-time MPMPC and the very efficient but suboptimal Newton–Raphson based MPC (NRMPC); all with guaranteed stability and constraint feasibility are analyzed in different disturbance and loading scenarios. All MPC methods along with the baseline linear quadratic (LQ) controller decrease vibration settling to equilibrium by an order of magnitude time. The damping effect of all investigated MPC strategies is comparable with a slight decrease in performance for the suboptimal minimum-time MPMPC and NRMPC controllers. Due to the excessive online computational needs of QPMPC, it is a very unlikely candidate for lightly damped vibrating systems given currently available hardware. The online timing analysis presented here demonstrates that MPMPC provides significantly shorter online execution times, however its suboptimal minimum-time version does not bring a convincing improvement. NRMPC can provide online execution times on par with linear quadratic controllers; however, its suboptimality becomes excessive with increasing prediction model orders.

Keywords

Combustion Convection Attenuation Sine Mast 

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Copyright information

© Springer-Verlag London Limited 2012

Authors and Affiliations

  • Gergely Takács
    • 1
  • Boris Rohal’-Ilkiv
    • 1
  1. 1.Faculty of Mechanical Engineering, Institute of Automation, Measurement and Applied InformaticsSlovak University of Technology in BratislavaBratislava 1Slovakia

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