Angular Velocity and Phase Shift Control of Mechatronic Vibrational Setup

摘要

The paper is devoted to experimental study of possibilities for consensus control of the unbalanced rotors for the machine used in the vibration technology. This problem is treated as an ensuring the prescribed phase shift between the vibrating rotor actuators and has a significant value for the various kinds of the vibration technology, such as vibrating transportation, drilling, and so on. It can not be considered without taking into account the natural tendency of in-phase or anti-phase synchronization of the mechanically coupled oscillating units (cf. Huygens clock synchronization). This phenomenon prevents the controller efforts in maintaining the desired value of the phase shift. In the paper, the control laws for frequency stabilization simultaneously with cooperative control for assuring the desired phase shift between the rotors angular positions are derived and experimentally studied by means of the mechatronic vibration testbed. It is obtained that for the low and medium frequencies the self-synchronization of unbalanced rotors does not prevent achieving the desired phase shift between the rotors. For a high frequency band, the Huygens self-synchronization of rotors manifests itself, narrowing the range of the achievable phase shift.