Vibration Control of Moving Structures by Neural Network

신경회로망을 이용한 구조물의 운동 중 진동의 제어에 관한 연구

In moving structures such as robots and feeders of production lines, vibrations may not be ignored. Recently it becomes a big problem to control the vibration in a motion because moving structures are in higher speed, larger size and lighter weight. In this study a nonlinear system was model- led and identified by using neural networks and the vibration in motions was controlled actively by using a neural network controller. To investigate vilidity of this method, an experimental apparatus was made and tested. The model was composed of a DC servomotor, a carrier and a flexible plate. Its motion was measured by a gap sensor and an encoder. Trapezoidal, cycloid and trapecloid type trajectories were used in this exper- riment. Computer simulations and experiments weredone for each trajectory.