VSS制御技術を用いた重心移動による振り子系の振動制御の一法

概要

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For a pendulum system whose weight is moved up and down along the member, a vibration control technique is presented in view of a VSS control scheme including both a linear observer and a non-linear one, by introducing two different Lyapunov-type functions concerning the pendulum state(θ, θ)and the weight stete(y, y). As for the design condition for the higher damping capacity, it is needed that the parameter s_1 in the switching function σ_p=s_1θ+θ is not only made larger, but also the parameter s_3 in the switching function σ_c=s_3y+y sets up an appropriate value, and furthermore that from the viewpoint of the Coriolis force effect, the weight speed y is elivated as highly as possible. From the simulation aspect, the highest active damping capacity Q^<-1>_<max>〓0.116 is achieved in the maximum vibration amplitude under the condition of the weight stroke y_e=0.4[m], while in the real system, Q^<-1>_<max>〓0.066 is obtained in case of y_e=0.287[m]. The robust damping effect is also confirmed by attaching appropriate mass to the movable weight.
一般社団法人日本機械学会の論文
2000-03-25