제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Vibration Control of an Axially Moving String: Inclusion of the Dynamics of Electro Hydraulic Servo System

  • Kim, Chang-Won (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Hong, Keum-Shik (School of Mechanical Engineering, Pusan National University) ;
  • Kim, Yong-Shik (Department of Mechanical and Intelligent Systems Engineering, Pusan National University)
  • 발행 : 2003.10.22
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초록

In this paper, an active vibration control of a translating tensioned string with the use of an electro-hydraulic servo mechanism at the right boundary is investigated. The dynamics of the moving strip is modeled as a string with tension by using Hamilton’s principle for the systems with changing mass. The control objective is to suppress the transverse vibrations of the strip via boundary control. A right boundary control law in the form of current input to the servo valve based upon the Lyapunov’s second method is derived. It is revealed that a time-varying boundary force and a suitable passive damping at the right boundary can successfully suppress the transverse vibrations. The exponential stability of the closed loop system is proved. The effectiveness of the control laws proposed is demonstrated via simulations.

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