Optimal Model Reference Command Shaping for vibration reduction of Multibody-Multimode flexible systems: Initial Study

摘要

The present work develops an initial study of the Optimal Model Reference Command Shaping (MRCS) approach to effective vibration control of real world multibody-multimode flexible systems. The proposed MRCS is designed based on a multibody model, described by the corresponding Differential Algebraic Equations (DAEs), but avoids the need for estimation of the multibody system natural frequencies, extracted from the DAEs, as in the case of customary command shaping. Instead, a well know high order reference model is proposed to design the shaper. Then attempt that the shaper plus the multibody system output follows as close as possible the model reference output. An overhead crane hanging distributed multibody payloads has been chosen as showcase.