Active Vibration control of

Flexible structures
Presented by
B. Hariharan EE15B1006
Zaya Gopinathe Z EE15B1029
Under the tutelage of Dr. T. Vinopraba
 LQG Control

1 of 3 Linear quadratic Gaussian

control is one of the most
Control Strategies fundamental optimal
control solutions
Shows promising result

90% 65% 50%

Education Lorem Structural Vibration

Roadmap Control using smart

structure
February March April

65%
PID & AI PID & Ai
Techniques
PID shows Control with
requirement of highly PID is control loop
precise tuning necessities feedback mechanism.
New and upcoming AI
Techniques like Fuzzy logic
control are being studied

50% Thesis Submission

Part I of the
Gives clear and
thesis is already constructive ideas which
lay the groundwork for
completed implementing the project
February March April
Our Approach to Problem Solution

 Step 1: Model the system.

 Step 2: Determine the transfer function of the required system.
 Step 3: Find the Closed loop transfer function with PI controller, keeping P
and I gain constants as variables Kp and Ki.
 Step 4: Use Particle Swarm Optimization technique to find the optimal
parameters (i.e. Kp and Ki).
 Step 5: Compare the Step response of Unit feedback system with PSO-
tuned PI controller based system.
Required transfer function of the Plant

α2𝑖 𝑠
G(s) = 2 is the required Plant transfer function.
𝑠 2 +2εω 𝑖 𝑠+ω 𝑖

𝐾𝑖
Gpi 𝑠 = 𝐾𝑝 + is the transfer function of the PI controller.
𝑠
Finding closed loop transfer function

𝑠(α2𝑖 𝐾𝑝)+α2𝑖 𝐾𝑖
G(s) =
𝑠 2 +𝑠(2εω𝑖 +α2𝑖 𝐾𝑝)+(1+α2𝑖 𝐾𝑖)
PID Control

𝑡
𝑑𝑒(𝑡)
𝑢 𝑡 = 𝑀𝑉 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒(τ) 𝑑τ + 𝐾𝑑
𝑑𝑡
0

 P- Proportional For gain of error correction

 I- Integral For accumulation of past errors
 D- Derivative For future anticipatory error correction

For proper working of PI control, it must be tuned to optimal values. Hence, we

use Particle Swarm Optimization technique .
Particle Swarm Optimization
Basic Idea I

 Each particle is searching for the optimum

 Each particle is moving and hence has a velocity.
 Each particle remembers the position it was in where it had its best
result so far (its personal best)
 But this would not be much good on its own; particles need help in
figuring out where to search.
Basic Idea II

 The particles in the swarm co-operate. They exchange information

about what they’ve discovered in the places they have visited
 The co-operation is very simple. In basic PSO it is like this:
 A particle has a neighborhood associated with it.
 A particle knows the fitness of those in its neighborhood, and
uses the position of the one with best fitness.
This position is simply used to adjust the particle’s velocity
Initialization. Positions and
velocities
Algorithm
Pseudocode

Equation (a)
v[] = c0 *v[]
+ c1 * rand() * (pbest[] - present[])
+ c2 * rand() * (gbest[] - present[])
(in the original method, c0=1, but many
researchers now play with this parameter)

Equation (b)
present[] = present[] + v[]
Results
Discussions

 Selection of proper boundary values for Kp and Ki.

 Selection of proper personal acceleration factor and global acceleration
factor.
 If particle velocity is more towards global optimum but improper search.
 If particle velocity is less Local optimum problem.
REFERENCES

 H R Pota ,” Resonant controllers for smart structures”, INSTITUTE OF PHYSICS PUBLISHING,

Smart Materials and Structures, Vol.11, 1 , pp.1–8, 2002.
 Poli, R. "Analysis of the publications on the applications of particle swarm optimisation".
Journal of Artificial Evolution and Applications 2008: 1–10
 Saurabh Kumar, “ACTIVE VIBRATION CONTROL OF SMART PIEZO CANTILEVER BEAM USING
PID CONTROLLER” , International Journal of Research in Engineering and Technology, Vol.
03, 01, 2014.
 S. O. R. Moheimani, “Resonant Control of Structural Vibration Using Charge driven
Piezoelectric Actuator”, 43rd IEEE Conference on Decision and Control, December 14-17,
2004
 B. Bandyopadhyay, T.C. Manjunath, M.Umapathy “Modelling, control and implementation
of smart structures” , Monograph 2007.
 Zwe-Lee Gaing,” A Particle Swarm Optimization Approach for Optimum Design of PID
Controller in AVR System”, IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 19, NO. 2,
JUNE 2004