• Title/Summary/Keyword: control vibration

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A Suppression of Residual Vibration on the Flexible Structures by Input Shaping (입력설계기법에 의한 유연구조물의 잔류진동제어)

  • Park, Myoungho;Han, Myoungseok;Park, Sungjong
    • 대한공업교육학회지
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    • v.31 no.2
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    • pp.364-380
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    • 2006

  • This paper presents a procedure for designing command to maneuver flexible structure with very little residual vibration, even in the presence of modeling errors. For the open loop maneuver, the various shaped profiles using multiple step inputs delayed in time are considered for robustness and compared with the responses of rigid body and flexible body in virtue of simulations and experiments. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. A flexible model with a cylindrical hub and four symmetric appendages is considered to examine the responses to real plant, and to illustrate the effectiveness of the proposed shapers. The appendages are long and flexible, leading to low frequency vibration under any control action. It is shown by a series of simulation that a properly designed feedback controller with input shaper performs well, as compared with open loop controller with input shaper. The control objective is to achieve a fast settling time of residual vibration to flexible structure and robustness (insensitivity)to plant uncertainty, to eliminate residual vibration.

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