Suppression of Residual Vibration in Nonlinear Systems With Temporal Variation and Uncertainty in Parameters by Elimination of the Natural Frequency Component

Hiroki Mori, Kai Kurihara, Nobuyuki Sowa, Takahiro Kondou

研究成果: ジャーナルへの寄稿学術誌査読

1 被引用数 (Scopus)

抄録

A systematic approach is developed for determining a control input for the point-to-point control of an overhead crane that exhibits temporal variation of rope length in addition to damping and nonlinearity, without inducing residual vibration. Complete suppression of the residual vibration is achieved by eliminating the natural frequency component of the cargo from the apparent external force, which is defined to include the effects of damping, nonlinearity, and parameter variation. Furthermore, an effective technique previously proposed by the authors for improving robustness to the modeling error of the natural frequency is extended. Numerical simulation results show that, even when cargo is hoisted up or down during operation, the proposed method realizes accurate positioning of the cargo without inducing residual vibration and sufficiently improves robustness. To the best of our knowledge, this is the first frequency-domain robust open-loop control strategy that ensures a theoretical zero amplitude for residual vibration in the absence of modeling error in nonlinear crane hoisting operation. The developed method is not only a contribution to the realization of low-cost and efficient crane hoisting operation, but is also applicable to the control of other nonlinear damped systems that include time-varying parameters.

本文言語英語
論文番号101007
ジャーナルJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
143
10
DOI
出版ステータス出版済み - 10月 2021

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 情報システム
  • 器械工学
  • 機械工学
  • コンピュータ サイエンスの応用

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