Starting Control with Vibration Damping by Hybrid Shaped Approach Considering Time and Frequency Specifications

摘要

In many industries, there exist a lot of transfer systems with a vibration mechanism, for example, a crane system, a robotic manipulator, an automatic pouring system, a liquid container transfer system, and so on. For these plants, although it is demanded to transfer without any vibration, many sensors and complicated models are needed for the control design. Therefore in this paper, a control design method to suppress the vibration without direct measurement of the vibration is newly presented. A proposed method consists of two parts. First, the frequency characteristics of the controller comprised of control elements with simple structure such as a notch filter and a low pass filter, is shaped into the desired characteristics aiming at vibration suppression and robust performance. Next, various parameters of some control elements are determined by solving an optimization problem with penalty terms expressed by the constraints of both the time-domain and the frequency-domain under the consideration of transient response, limitation for overshoot, restriction of input magnitudes. The proposed method is applied to a liquid container transfer system. An obtained controller demonstrates the good performance for all demands. The effectiveness of the control system is shown by simulations and experiments.