Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Residual Vibration Suppression of a Beam-Mass-Cart System by Input Reshaping with a Robust Inernal-loop Compensator

강인한 내부 루프 보상기를 입력성형법에 의한 유연보-부하-대차 시스템의 잔류진동 억제

  • Park, Sangdeok ;
  • Kim, Bong-Keun (Dept. of Mechanical Engineering, Pohang University of Science and Technology) ;
  • Chung, Wan-Kyun (Dept. of Mechanical Engineering, Pohang University of Science and Technology) ;
  • Yeom, Yeong-Il (Dept. of Mechanical Engineering, Pohang University of Science and Technology)
  • 박상덕 ((재)포항산업과학연구원 기전연구팀) ;
  • 김봉근 (포항공과대학교 기계공학과) ;
  • 정완균 (포항공과대학교 기계공학과) ;
  • 염영일 (포항공과대학교 기계공학과)
  • Published : 2001.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, vibration suppression of an elastic beam fixed on a moving cart and carrying a fixed or moving mass is considered. A modified pulse sequence method with RIC(Robust Internal-loop Compensator) is proposed to suppress the single model residual vibration and to get accurate positioning of the beam-mass-cart system. The performance of the proposed input preshaping method is compared with that of the previous ones through simulations and experiments. Using the proposed method, it is able to suppress the initial vibration of the beam-mass-cart system carrying a concentrated mass. Accurate PTP(point-to-point) positioning of the moving mass without residual vibration is also obtained experimentally by modifying the proposed pulse sequence method. Finally, the proposed input preshaping method is applied successfully to the system to follow square trajectories of the moving mass without residual vibration.

Keywords

References

  1. R. H. Canon Jr. and E. Schmitz, 'Initial experiments on the End-Point control of a flexible One-Link manipulator,' The International Journal of Robotic Research, vol 3, pp. 325-338, 1984
  2. P. T. Kotnik, S. Yurkovitch, and U. Ozguner, 'Acceleration feedback for control of a flexible manipulator arm,' Journal of Robotic System, vol. 5, pp. 181-196, 1988 https://doi.org/10.1002/rob.4620050302
  3. C. L. Teo, C. J. Ong, and M. Xu, 'Pulse input sequences for residual vibration reduction,' Journal of Sound and Vibration, vol. 211, no. 2, pp. 157-177, 1998 https://doi.org/10.1006/jsvi.1997.1360
  4. N. C. Singer and W. P. Seering, 'Preshaping command inputs to reduce system vibration,' ASME Journal of Dynamic Systems, measurements, and Control, vol. 112, pp. 76-82, 1990
  5. S. Park and Y. Youm, 'Motion of a moving elastic beam carrying a moving Mass - Analysis and experimental verification,' Journal of Sound and Vibration(Accepted and in press, jsvi. 2000 3198), 2000 https://doi.org/10.1006/jsvi.2000.3198
  6. S. Park, W. K. Chung, Y. Youm, and J. W. Lee, 'Natural frequencies and Open-Loop responses of an elastic beam fixed on a moving cart and carrying an intermediate lumped mass,' Journal of Sound and Vibration, vol. 230, no. 3, pp. 591-615, 2000 https://doi.org/10.1006/jsvi.1999.2631
  7. 박운환, 이재원, 임병덕, 'Z-영역에서 설계된 입력성형필터의 민감도 해석,' 제어·자동화·시스템공학회지, 제5권, 제8호, pp. 838-888, 1999
  8. 박운환, 이재원, 임병덕, 'Z-영역에서의 입력성형필터의 설계,' 제13회 한국자동제어학술회의 논문집, pp. 1707-1710, 1998
  9. B. K. Kim, H. T. Choi, W. K. Chung, and Y. H. Chang, 'Robust optimal internal-loop compensator for motion control of precision linear motor,' Proceedings of IEEE International Symposium of Industrial Electronics, pp. 1045-1050, 1999 https://doi.org/10.1109/ISIE.1999.796773