| 201B1 |
|---|
| Active Vibration based on SAC using Acceleration Feedback |
| AUTHORS |
| Kazutoshi Araki, Zenta Iwai, Makoto Kumon, Ikuro Mizumoto, Ryuich Kohzawa, Yuichi Tao, Shinnichi Yamazaki (Kumamoto University ) |
| ABSTRACT |
| Active vibration controller has been used in many mechanical systems to suppress unnecessary vibrations caused by unknown disturbance resources. From the practical viewpoint, it gradually increases the importance as basic technology to realize more accuracy in manufacturing and more comfortable environment. In this report, we treat a design problem of active vibration control from three viewpoints: the simplicity of realizing the control system, the robustness of the controlled system and the sensing problem. As a candidate of the control method satisfying the simple realizabilty and robustness of the controller, here we consider the so-called simple adaptive control (SAC) method [1],[2],[3]. From the stability viewpoint, vibration control problem is a kind of stabilizing or regulatory problem. Though SAC itself is an adaptive tracking control technique, it can be recognized as an adaptive output feedback control from the stability viewpoint of the control system. Further from the robustness viewpoint, it is expected to be robust for the plant parameter deviation. Further output feedback form often attains hi-gain feedback so that the robustness against disturbance input is also expected. To answer the third problem, we will attempt to use acceleration sensor as a tool of measurement. The use of acceleration sensor has two advantages. One is that this type of sensor does no require the fixed point for measurement compared to, for example, displacement sensor. Second advantage is that it is not so expensive compared to other type of sensors. Although there exist several disadvantages when we use acceleration type sensors, by combining the SAC method it produces another remarkable merit. It comes from the realization condition of SAC. To realize SAC system, controlled plant must satisfy the so-called ASPR condition: (1) the leading coefficient is positive, (2) minimal phase and (3) relative order is 0 or 1. Usual vibration system does not satisfy the above stated conditions. To solve this difficulty, introduction of the parallel feedforward compensator (PFC) has been proposed [1],[2],[3]. Though the design of PFC has been rather troublesome matters to practitioners, as far as the vibration -suppressing problem, the introduction of the acceleration sensor significantly improves the procedure of the choice of PFC. As a conclusion, SAC plus acceleration sensor will offer a possibility to design simple, robust and not so expensive practical active vibration control system. A design procedure of SAC based active vibration suppressing control technique and a simple experimental result to explain the effectiveness of the proposed method are given. References [1] Sobel, K., H. Kaufman, and L. Mabius, "Model Reference Output adaptive control systems without parameter identification", Proc. of 18th IEEE Conference on Decision and Control, pp. 347-351, 1979. [2] Sobel, K., H. Kaufman, and L. Mabius, "Implicit Adaptive Control for a Class of MIMO Systems", IEEE Trans on Aerospace and Electronic System, Vol. AES-18, pp. 675-690, 1982. [3] Z.Iwai, I.Mizumoto "Robust and Simple Adaptive Control System Design", Int. J. Adaptive Control and Signal Processing, Vol. 7, pp. 163- 181, 1993. |
Back to Program
Time Table
Top of This Site
Annual Conference 2002