繰返し制御による運動を伴う柔軟構造物の振動制御

概要

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The purpose of this study is to move a flexible structure quickly and accurately by controlling the vibration of a periodical moving flexible structure such as conveyance equipment. In order to reduce the vibration of the flexible structure actively, a hydraulic actuator is installed on the motion transmission path from a drive system to a flexible structure. Generally, it is possible to obtain effective reduction of the residual vibration by feedback control. However the vibration displacement during motion is mainly the forced vibration which is caused by motion acceleration, so it is difficult to reduce the vibration displacement by feedback control. Thus, by considering that the flexible structure moves periodically, we use the repetitive control method to reduce the vibration displacement during motion. In this study, the repetitive control method with step response, which does not require the model identification, is shown. Furthermore, the validity of this method is examined by simulation and experiment.
一般社団法人日本機械学会の論文
1995-08-25