Positioning Control of Vibration Systems by Means of Simple Feedforward Control and Standard LQ Optimal Regulator

摘要

Positioning control of vibration systems such as flexible structures is one of the most fundamental technologies for mechanical structures. Different from feed forward control based methods, the use of LQ optimal regulator realizes the feedback control of vibrating parts of a controlled object. However, if the standard LQ optimal regulator is applied to long distance positioning problems, it requires much control energy in motion starting and the positioning error becomes large in settling. Therefore, its use is suitable for positioning settling and residual vibration reduction control in short distance problems. Taking such a background into account, this study proposes a control method switching from a simple feed forward access control technique to the standard LQ optimal regulator. Especially, this paper mentions a proper switching method of the two control modes. The proposed method does not require much computational loads in comparison with the author's conventional methods and is practical for many industry applications. The effectiveness of the proposed method is verified by numerical calculations and an experiment.