波動制御による走行懸垂系の振れ止め

概要

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This paper describes the vibration control of suspended systems which travel from one position to another using a wave control method. Two types of suspended systems are considered: a multiple pendulum system and a rope-and-weight system. The basic control strategy is similar to the wave control method which has been presented formerly for a non-travelling multiple-pendulum system. Analysis shows that the formerly presented method can be successfully applied to the travelling suspended systems. In order to confirm the analytical results, experiments have been done both for a multiple-pendulum system and a rope-and-weight system. The suspended system is supported by a ball-screw and a nut which is driven by a DC servomotor. The control system has a computer which calculates the vibration control signal based on the signal of the rotary encoder attached to the uppermost pendulum in order to measure its deflection. The travelling command and vibration control signals are combined to form the input to the servomotor driver.
社団法人日本機械学会の論文
1999-04-25