• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2016-2021
• /
• 2003

This paper deals with a control technique of eliminating the transient vibration with respect to a waist axis of an articulated robot. This control technique is based on a model-based control in order to establish the damping effect on the driven mechanical part. The control model is composed of reduced-order electrical and mechanical parts related to the velocity control loop. The parameters of the control model can be obtained from design data or experimental data. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration. This control method is applied to an articulated robot regarded as a time-invariant system. The effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the end-effector.

• Structural Engineering and Mechanics
• /
• v.14 no.5
• /
• pp.521-542
• /
• 2002

Application of piezoceramic materials in actuation and sensing of vibration is of current interest. Potential and more popular applications of piezoceramics are probably in the field of active vibration control. However, the objective of this work is to investigate the effect of shunted piezoceramics as passive vibration control devices when bonded to a host structure. Resistive shunting of a piezoceramic bonded to a cantilevered duralumin beam has been investigated. The piezoceramic is connected in parallel to an electrical network comprising of resistors and inductors. The piezoceramic is a capacitor that stores and discharges electrical energy that is transformed from the mechanical motion of the structure to which it is bonded. A resistor across the piezoceramic would be termed as a resistively shunted piezoceramic. Similarly, an inductor across the piezoceramic is termed as a resonantly shunted piezoceramic. In this study, the effect of resistive shunting on the nature of damping enhancement to the host structure has been investigated. Analytical studies are presented along with experimental results.

• Smart Structures and Systems
• /
• v.5 no.5
• /
• pp.517-529
• /
• 2009

This paper presents the development of a new Adaptive Tuned Dynamic Vibration Absorber (ATDVA) working with magnetorheological elastomers (MREs). The MRE materials were fabricated by mixing carbonyl iron particles with silicone rubber and cured under a strong magnetic field. An ATDVA prototype using MRE as an adaptable spring was designed and manufactured. The MRE ATDVA worked in a shear mode and the magnetic field was generated by a magnetic circuit and controlled through a DC power supply. The dynamic performances or the system transmissibility at various magnetic fields of the absorber were measured by using a vibration testing system. Experimental results indicated that this absorber can change its natural frequency from 35Hz to 90Hz, 150% of its basic natural frequency. A real time control logic is proposed to evaluate the control effect. The simulation results indicate that the control effect of MRE ATDVA can be improved significantly.

• Structural Monitoring and Maintenance
• /
• v.3 no.2
• /
• pp.157-174
• /
• 2016

Based on classical viscoelastic damper, a brand-new damper is designed by the change of simple construction to implement vibration control for both translational vibration and rotational vibration simultaneously. Theoretic analysis has been carried out on the restoring force model and the control parameters. Two improved models are presented to obtain high simulation precision. The influence of the size, shape of the viscoelastic material, the ambient temperature and the response frequency on the vibration control effect is analyzed. The numerical results show that the new type viscoelastic damper is capable of mitigating the multi-dimensional seismic response of offshore platform and the response control effect has complicated relations with aforementioned related factors.

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.368-371
• /
• 1995

This paper describes dynamic analysis and attitude control of a large spacecraft with flexible appendages in gravitational field. The effect of attitude control and vibration control of flexible appendages in gravitational field has been clarified. We demonstrate some simulations in gravitational field for some cases, and suggest the effects of gravitational torque, parameters of flexible appendages, attitude control and vibration control of flexible appendages.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2009.10a
• /
• pp.508-509
• /
• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.11a
• /
• pp.459-464
• /
• 2001

Vibration control of a plate using an optical fiber sensor and a PZT actuator is considered in this study. An aluminum plate with attached Extrinsic Fabry-Perot Interferometer (EFPI) and PZT actuator is prepared for experimental investigation. Vibration level of EFPI that can represent the mechanical strain without severe distortion is validated by forced vibration experiment. A numerical model of the plate is constructed based on the experimentally obtained frequency responses, and an optimal controller is designed for the multi-modal vibration suppression. It is found that the vibration level of the first three modes can be greatly reduced. The effect of low-pass filtering used to eliminate high frequency noise on the stability and control performance is also considered.

• Journal of KSNVE
• /
• v.6 no.2
• /
• pp.215-224
• /
• 1996

Active vibration control is generally used to reduce vibration level by the actuators based on measured signal. Dynamic properties of a structure can be easily modified by the active vibration control, so that the vibration level may be effectively reduced to the magnitude below the allowable limit over a wide frequency rangs. In this paper, an instantaneous optimal control algorithm including acceleration feedback is presented for the active vibration control of large structures considering facts that the acceleration response can be easily measured, but the displacement and velocity response are obtained by numerically integrating the measured acceleration response with some errors. The adverse effect of the time delay is overcomed by taking into account the dynamic characteristics of an actuator and filters in the design of controller. Performance test is carried out using a hydraulic active mass driver on a test structure$(L{\times}W{\times}H;=;1200mm{\times}800mm{\times}1600mm, about;500kg)$ supported by four columns under base excitations. It is confirmed that the vibration level of the test structure are reduced to about 1/6 near resonance.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.13 no.8
• /
• pp.612-618
• /
• 2003

A hybrid vibration control scheme using ER fluid and PZT patches is proposed. Dynamic characteristics of the beam embedded with the ER fluid can be controled by changing the strength of the electric field applied on the ER fluid, thus provides a mean to avoid the resonance. It was found that active vibration control of the structure embedded with ER fluid failed to suppress the vibration excited with broad band frequency due to the limited change of the dynamic characteristics of the structure. To compensate this limited effect of the control scheme with ER fluid alone, PPF control using PZT patches as sensors and actuators is added to construct a hybrid controller. Experimental results suggests that proposed hybrid controller is effective to suppress the additional resonance vibration that appears when each controller is used alone.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.11a
• /
• pp.369-374
• /
• 2007

This paper presents yaw vibration control performances of railway vehicle featuring controllable magnetorheological damper. A cylindrical type of MR damper is devised and its damping force is evaluated by considering fluid resistance and MR effect. Design parameters are determined to achieve desired damping force level. The MR damper model is then incorporated with the governing equations of motion of the railway vehicle which includes vehicle body, bogie and wheel-set. Subsequently, computer simulation of vibration control via proportional-integral-derivative (PID) controller is performed using Matlab. Various control performances are demonstrated under external excitation by creep force between wheel and rail.