An Approach to the Vibration Control of a Pendulum System Based on the Movement of the Center of Gravity Using a VSS Control Technique

摘要

For a pendulum system whose weight is moved up and down along the member, a vibration. control technique is presented in view of a VSS control scheme including both a linear observer and a non-linear one, by introducing two different Lyapunov-type functions concerning the pendulum state (θ,θ) and the weight stete (y, y ). As for the design condition for the higher damping capacity, it is needed that the parameter si in the switching function σ_P＝s_1θ ＋ θ is not only made larger, but also the parameter s_3 in the switching function σ_c＝s_3y＋y sets up an appropriate value, and furthermore that from the viewpoint of the Coriolis force effect, the weight speed y is elivated as highly as possible. From the simulation aspect, the highest active damping capacity Q~1_max ≈0.116 is achieved in the maximum vibration amplitude under the condition of the weight stroke y_e＝0.4[m], while in the real system, Q~1_max ≈0.066 is obtained in case of y_e＝0.287[m]. The robust damping effect is also confirmed by attaching appropriate mass to the movable weight.