Parallel P-PD controller to achieve vibration and position control of a flexible beam

Robotic arms are considered as a cantilever beam fixed at one end and due to the length-to-weight ratio, it has significant vibration-induced that needs be controlled achieve accurate position, speed control increase its efficiency. In this project, discretized Timoshenko model is used discuss dynamics of system. Further, implement on hardware an experimental setup fabricated observe open-loop closed-loop responses made low-density polyethylene. An accelerometer feedback sensor attached flexible while another moving cart having DC motor actuator. Simulink programming tool perform all experimentation. Proportional-integral-derivative (PID) tuning performed. Following deflection parallel motion observed with different input waveforms. By applying proportional scheme, experiment performed demonstrate disturbance rejection sensor, ignoring position control. Finally, PD P based scheme proposed obtain simultaneously both vibration reduction.