Modeling and Vibration Suppression of a Flexible Structure in SimMechanics

Abstract

In this work, modeling and simulation of a flexible cantilever beam are investigated in SimMechanics and then, vibration results are verified with the finite element (FE) model in ANSYS. Flexible beam model based on SimMechanics is created in MATLAB, while the FE model is established in ANSYS. In the system, inputs are determined as a force base actuator and disturbance force. Outputs of the system are selected as displacement and acceleration responses at the endpoint of flexible beam. Undamped natural frequencies are determined by modal analysis in ANSYS and frequency analysis in MATLAB. Transient analyses are achieved to obtain the vibration responses. For the open loop responses, the displacement and acceleration vibration results are verified using step and harmonic excitations. The closed-loop control with PID controller is applied to the FE and SimMechanics models to control the endpoint position. The open and closed-loop vibration results are indicated for different controller gains. It observed that open and closed-loop results are successfully matched well with the FE model and SimMechanics. The accuracy of flexible beam model based on SimMechanics is verified with the FE model.

Study on dynamic modelling and vibration analysis of single-link flexible manipulator

“…For flexible structures, dynamic modeling and performing vibration analyzes of flexible structures with the FE method are widely studied. Modeling and simulation of a flexible beam are studied with both ANSYS and SimMechanics-based flexible beam element model (Uyar, 2021). Controlled and uncontrolled vibration responses are presented comparatively.…”