Vibration suppression of resonant system by using wave compensator

Abstract

Vibration control of resonant system is an important problem in industry applications. The reason is that degradation of task accuracy and destruction of materials are caused by vibration. Under such a background, state feedback control, H∞ control, and resonant ratio control based on lumped parameter system have been researched for vibration suppression of system with flexible mechanism. On the other hand, methods in distributed parameter model need a lot of calculation in time domain design. In this paper, to suppress vibration of resonant system, a novel position controller based on a transfer function of wave equation is proposed. Superposition of a traveling wave and the reflection wave causes ordinary wave and vibration occurs. Therefore, a method of reflected wave rejection is proposed. Moreover, the proposed method is applied to a two-mass resonant system and three-mass resonant system. Because the proposed method is based on a distributed parameter model, all vibration modes can be suppressed. The effectiveness of the proposed method is verified by experimental results in a 2-mass and 3-mass resonant system.