Perfect collocation using self-sensing electromagnetic actuator: Application to vibration control of flexible structures

Abstract

Collocated control has the advantages of robustness and guaranteed stability. In collocated control, the sensor and actuator are placed close to each other. True collocation can be achieved using self-sensing in which the actuator can also be used as a sensor. In this article, we present a self-sensing electromagnetic actuator for vibration control of flexible structures. The back electromotive force (emf) generated in the coil is measured to evaluate the velocity of the structure (and hence, the displacement). The position measurements obtained from self-sensing are found to have good correlation with those obtained using an eddy current sensor. The efficacy of the proposed technique has been verified for the vibration control of a flexible cantilever beam. Self-sensing offers economical, simple and robust control architecture. It can be effectively used for applications where sensors and actuators cannot be collocated due to space and size limitations.

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