時変振動機構に対する制振フィードフォワード制御入力の導出とクレーンへの応用

概要

論文の詳細を見る
In this paper, a simple method is proposed to derive the reference control input without generating endpoint residual vibrations for a time-variant vibration mechanism such as a crane system which rolls up and down the object. The usefulness of the proposed control input can be demonstrated by comparing it with other rference inputs. The present control input is obtained in very few calculations, which is suitable for on-line control. Further, through a Wavelet Transform Analysis, it is found that the proposed control input has time-variant antiresonant frequency characteristics according to the varying resonant frequency of the crane system with the change of rope-length, and the pole-zero cancellation is therefore manifested.
一般社団法人日本機械学会の論文
1998-08-25