Control systems methodology for vibration suppression in machinery and structures

摘要

This paper presents some recent developments in the use of control systems approaches In the vibration suppression In machinery, robotic manipulators, and mechanical structures. Both frequency domain and time domain applications are presented using background theory and representative examples. Furthermore, the use of fuzzy decision making In the improvement of the performance of a conventional active vibration controller is presented in sufficient detail. Specific techniques considered are the mechanical-impedance-based transmissibility approach, the linear quadratic regulator (LQR), the linear quadratic Gaussisan (LQG) control, modal control, and fuzzy-logic-based toning of a conventional controller. Several practical examples are used to illustrate the application of the presented techniques. They include the suppression of the vibrations transmitted from a heavy machine tool, active vibration control of a wood cutting saw, and vibration control of a robotic manipulator with joint flexibility.