• Title/Summary/Keyword: Hybrid Vibration Control

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Vibration Suppression Control of Two Cooperating Flexible Manipulators (양팔 협조 유연 매니퓰레이터의 진동억제 제어)

  • Kim, Jin-Soo
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.19 no.5
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    • pp.645-652
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    • 2010
  • For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

Performance Evaluation of RWA Vibration Isolator Using Notch Filter Control (노치 필터 제어기법을 이용한 반작용 휠 미소진동 절연장치의 절연성능 평가)

  • Park, Geeyong;Suh, Jong-Eun;Lee, Dae-Oen;Han, Jae-Hung
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.26 no.4
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    • pp.391-397
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    • 2016
  • Vibration disturbances induced by the reaction wheels can severely degrade the performance of high precision payloads on board satellites with high pointing stability requirements. The unwanted disturbances produced by the reaction wheels are composed of fundamental harmonic disturbances due to the flywheel imbalance and sub/higher harmonic disturbances due to bearing irregularities, motor imperfections and so on. Because the wheel speed is constantly changed during the operation of a reaction wheel, the vibration disturbance induced by the reaction wheels can magnify the satellite vibration when the rotating frequency of wheel meets the natural frequency of satellite structure. In order to provide an effective isolation of the reaction wheel disturbances, isolation performance of a hybrid vibration isolator is investigated. In this paper, hybrid vibration isolator that combines passive and active components is developed and its hybrid isolation performance using notch filter control is evaluated in single-axis. The hybrid isolation performance using notch filter control show additional performance improvement compared to the results using only passive components.

A Study on the Adaptability of Hybrid Mass Damper for the Vibration Control of Structure under Base Excitation (지반 기진력을 받는 구조물의 진동 제어를 위한 Hybrid Mass Damper 의 유용성 연구)

  • Lim, Chae-Wook;Chung, Tae-Young;Moon, Seok-Jun
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2000.11a
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    • pp.268-275
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    • 2000
  • A hybrid mass damper that combines a tuned mass damper and an actuator has been recognized to be one of the most promising devices for vibration control of a tall building subjected to dynamic loads such as wind and earthquake. In this paper, in order to reduce vibration levels of a 5-story test structure, a hybrid mass damper using AC-servomotor was designed and developed. And control performances using HMD and TMD under random and earthquake excitations are compared through experimental test. It is confirmed that it is more effective to reduce the vibration levels of the test structure using HMD especially for earthquake excitation.

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Vibration Control of Beams Using Mechanical-Electrical Hybrid Passive Damping System (전기적-기계적 수동감쇠기를 이용한 빔의 진동제어)

  • 안상준;박현철;박철휴
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2003.05a
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    • pp.362-367
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    • 2003
  • A new mechanical-electrical hybrid passive dam ping treatment is proposed to improve the performance of structural vibration control. The proposed hybrid passive damping system consists of a constrained layer damping treatment and a shunt circuit. In a passive mechanical constrained layer damping, a viscoelastic material damping layer is used to control the structural vibration modes in high frequency range. The passive electrical damping is designed for targeting the vibration amplitude in the low frequency range. The governing equations of motion are derived through the Hamilton's principle. The obtained mathematical model is validated experimentally. The presented theoretical and experimental techniques provide invaluable tools for controlling the multiple modes of a vibrating structure over a wide frequency band.

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Active Vibration Control Using Piezostack Based Mount (압전작동기 마운트를 이용한 능동진동제어)

  • Nguyen, Vien-Quoc;Choi, Sang-Min;Paeng, Yong-Seok;Han, Young-Min;Choi, Seung-Bok;Moon, Seok-Jun
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.18 no.4
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    • pp.386-392
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    • 2008
  • This paper presents active vibration control performance of a hybrid mount. The proposed hybrid mount is devised by adopting both piezostack as an active actuator and rubber as a passive element. After experimentally identifying actuating force characteristics of the piezostack and dynamic characteristics of the rubber, the hybrid mount was designed and manufactured. Subsequently, a vibration control system with a specific mass loading is constructed, and its governing equations of motion are derived. In order to actively attenuate vibration transmitted from the base, a feedforward controller is formulated and experimentally realized. Vibration control responses are then evaluated in time and frequency domains.

Design of Hybrid Mount Using Rubber and Electromagnetic Actuator with Application to Vibration Control (전자기 작동기와 고무를 이용한 하이브리드 마운트의 설계 및 진동제어 응용)

  • Paeng, Yong-Seok;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2006.11a
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    • pp.915-918
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    • 2006
  • This paper presents an active vibration control of a 1-DOF system using a hybrid mount which consists of elastic rubber and electromagnetic actuator. After identifying stiffness, damping properties of the elastic rubber and electromagnetic element, a mechanical model of the hybrid mount is established. The mount model is then incorporated into the 1-DOF system and the governing equation of motion is obtained in a state space. A sliding mode controller is designed in order to actively attenuate the vibration of the system control responses such as acceleration and transmitted force of the 1 -DOF system are presented in time domain.

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Vibration Control of Beams Using Mechanical-Electrical Hybrid Passive Damping System (전기적-기계적 수동감쇠기를 이용한 빔의 진동제어)

  • 박철휴;안상준;박현철
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.13 no.8
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    • pp.651-657
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    • 2003
  • A new mechanical-electrical hybrid passive damping treatment is proposed to improve the performance of structural vibration control. The proposed hybrid passive damping system consists of a constrained layer damping treatment and a shunt circuit. In a passive mechanical constrained layer damping, a viscoelastic material damping layer is used to control the structural vibration modes in high frequency range. The passive electrical damping is designed for targeting the nitration amplitude in the low frequency range. The governing equations of motion are derived through the Hamilton's principle. The obtained mathematical model Is validated experimentally. The presented theoretical and experimental techniques provide invaluable tools for controlling the multiple modes of a vibrating structure over a wide frequency band.

Evaluation of Vibration Control Performance for Active Hybrid Mount System Featuring Inertial Actuator (관성형 작동기를 이용한 능동 하이브리드 마운트 시스템의 진동제어 성능 평가)

  • Oh, Jong-Seok;Choi, Seung-Bok;Nguyen, Vien Quoc;Moon, Seok-Jun
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.21 no.8
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    • pp.768-773
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    • 2011
  • This work presents an experimental investigation on vibration control of the active hybrid mount system for naval ships. To reduce unwanted vibrations, this paper proposes an active mount which consists of rubber element, piezostack actuator and inertial mass. The rubber element supports a mass. The piezostack actuator generates a proper control force and supply it to the mount system. To avoid being broken piezostack actuator, an actuator of the proposed mount is devised as an inertial type, in which a piezostack actuator is positioned between inertial mass and rubber element. Vibration control performances of the active mount system are evaluated via experiment. To attenuate the unwanted vibrations transferred from upper mass, the feedforward control is designed. In order to implement a control experiment, the active mount system supported by four active mounts is constructed. For realization of the controller, one-chip board is manufactured and utilized. Subsequently, vibration control performances of the proposed active mount system are experimentally evaluated in frequency domains.

Control Performance of Hybrid Mount Using Electromagnetic Actuator and PZT Actuator (전자기 작동기와 압전 작동기를 이용한 하이브리드 마운트의 제어성능 평가)

  • Paeng, Yong-Seok;Yook, Ji-Yong;Moon, Seok-Jun;Choi, Seung-Bok
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.17 no.7 s.124
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    • pp.617-623
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    • 2007
  • This paper presents an active vibration control of a dynamic system using hybrid mount which consists of elastic rubber-piezostack actuator and elastic rubber-electromagnetic actuator, respectively. After identifying stiffness, damping properties of the elastic rubber, PZT actuator and electromagnetic element, a mathematical model of the hybrid mount is established. The mount model is then incorporated into the dynamic system and the governing equation of motion is obtained in a state space. A sliding mode controller is designed in order to actively attenuate the vibration of the system. Control responses such as acceleration and transmitted force of the dynamic system are experimentally evaluated and presented in time and frequency domains.

Control Performance of Hybrid Mount Using Electromagnetic Actuator and PZT Actuator (전자기 작동기와 압전 작동기를 이용한 하이브리드 마운트의 제어성능 평가)

  • Paeng, Yong-Seok;Yook, Ji-Yong;Moon, Seok-Jun;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2007.05a
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    • pp.1131-1136
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    • 2007
  • This paper presents an active vibration control of a 1-DOF system using hybrid mount which consists of elastic rubber and PZT(piezostack) actuator and elastic rubber and electromagnetic actuator, respectively After identifying stiffness, damping properties of the elastic rubber, PZT actuator and electromagnetic element, a mathematical model of the hybrid mount is established. The mount model is then incorporated into the 1-DOF system and the governing equation of motion is obtained in a state space. A sliding mode controller is designed in order to actively attenuate the vibration of the system. Control responses such as acceleration and transmitted force of the 1-DOF system are experimentally evaluated and presented in time and frequency domains.

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