입력 성형기와 가속도 피드백을 이용한 단진자 진동 제어

Abstract

In this study, we developed a method to suppress the residual vibration from a pendulum when the trolley moves to a certain position. In general, an input shaping technique is applied to reduce the vibration of the pendulum after the trolley moves. The zero vibration input shaping technique can be used to effectively suppress the residual vibration of the pendulum after operation. However, because the input shaping technique is an open-loop control, it is difficult to suppress the vibration caused by disturbances. To solve this problem, a control method consisting of the input shaping technique and acceleration feedback control was developed to suppress the residual vibration under disturbance conditions. A testbed was designed to validate the proposed method. Dynamic models of testbed were derived, and a numerical simulation was performed. The stability of the acceleration feedback controller was mathematically proven. It was proved both theoretically and experimentally that the proposed method can suppress the residual vibration of the pendulum effectively.