Synthesis and Experimental Validation of a Delayed Reference Controller for Active Vibration Suppression in Mechanical Systems

[+] Author and Article Information
P. Gallina

Dip. Energetica,  Universita di Trieste, Via A. Valerio 10, 34127 Trieste, Italypgallina@units.it

A. Trevisani1

DIMEG,  Universita di Padova, Via Venezia 1, 35131 Padova, Italyalberto.trevisani@unipd.it


To whom correspondence should be addressed.

J. Appl. Mech 72(4), 623-627 (Nov 22, 2004) (5 pages) doi:10.1115/1.1940663 History: Received February 03, 2004; Revised November 22, 2004

This paper introduces a non-time-based control scheme for active position and vibration control of two-degree-of-freedom systems by applying it to the path-tracking and swing control of a system composed of a trolley and a simple pendulum. The basic idea behind such a scheme is to make the path reference of the trolley a function of the time and of a time delay. This latter, which is affected by the measured oscillation, is calculated on-the-fly in order to reduce the swing phenomenon. The effectiveness of the proposed control scheme, which may have application to the control of overhead cranes, is proved experimentally.

Copyright © 2005 by American Society of Mechanical Engineers
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Figure 1

Free-body diagrams of the trolley and the pendulum

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Figure 2

Block scheme of the DRC

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Figure 3

The experimental apparatus

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Figure 4

Comparison of the experimental and numerical results. Linear reference path. x, θ, and τ vs. t.

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Figure 5

Comparison of the experimental and numerical results. Nonlinear reference path. x, θ (DRC and PD), and τ vs. t.




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