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Active Control of Vibrations Transmitted to the Human Body in the Vehicle and in the Presence of Uncertainties Using the Robust Control Method

Sajjadi, Amir Hossein | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56755 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Moradi, Hamed
  7. Abstract:
  8. With the advent of new technologies in everyday human life, issues related to the use of vehicles have become crucial subjects of investigation. In this context, vibrations transmitted from the vehicle to the human body, especially in terms of long-term health effects, have garnered special attention and significance. The main objective of this research is to develop a control system for the active control of vibrations transmitted to the human body. To achieve this goal, a 5-DOF model of the human body has been employed as the study system. Considering the uncertainties in the parameters and dynamics of this model, H∞ and µ-synthesis methods have been utilized for robust control design. The controllers K1, K2, and K3 obtained in this study have high orders of 18, 26, and 46, respectively. Since the controller K3, synthesized using the µ-synthesis method, has a significantly higher order compared to K1 and K2, which are synthesized using the H∞ method, the Hankel singular value method has been employed to reduce their orders. As a result, the orders have been reduced to 11, 11, and 18, respectively. Ultimately, it is observed that the robust performance and robust stability of the system are maintained for cases with the primary controller and the reduced-order controller
  9. Keywords:
  10. Vibration Control ; Multivariable Control ; Active Vibration Suppression ; Multivariable Active Control ; Human Body Seat Model ; Five Degree of Freedom Model ; Uncertainty

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