TY - GEN
T1 - Hierarchical Control for Vibration Suppression Through Decoupling of Traveling/Reflected Waves
AU - Shikata, Kosuke
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Vibration suppression has attracted interest in achieving fast, stable motion control in industrial fields. This study uses the wave partial differential equation (PDE) to model resonant systems and connects a lumped load and the PDE model in series. The lumped load is governed by the ordinary differential equation (ODE). This integrated model replaces the conventional two-mass resonant model, referred to as the PDE-ODE model in this study. A matrix representation of the PDE model is eigenvalue decomposed. The decomposition provides the basis transformation of the variables on the actual space into those on a wave space. Based on this transformation, the proposed controller equips the decoupling of the traveling/reflected waves for vibration suppression. Impedance matching explains the conditions necessary for the decoupling and control of vibration. The suppression method requires only the PDE part's parameter, making the control system resistant to inertial variations.
AB - Vibration suppression has attracted interest in achieving fast, stable motion control in industrial fields. This study uses the wave partial differential equation (PDE) to model resonant systems and connects a lumped load and the PDE model in series. The lumped load is governed by the ordinary differential equation (ODE). This integrated model replaces the conventional two-mass resonant model, referred to as the PDE-ODE model in this study. A matrix representation of the PDE model is eigenvalue decomposed. The decomposition provides the basis transformation of the variables on the actual space into those on a wave space. Based on this transformation, the proposed controller equips the decoupling of the traveling/reflected waves for vibration suppression. Impedance matching explains the conditions necessary for the decoupling and control of vibration. The suppression method requires only the PDE part's parameter, making the control system resistant to inertial variations.
KW - Distributed parameter system
KW - Motion control
KW - Partial differential equation
KW - Vibration suppression
KW - Wave equation
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U2 - 10.1109/IECON51785.2023.10312496
DO - 10.1109/IECON51785.2023.10312496
M3 - Conference contribution
AN - SCOPUS:85179525529
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
T2 - 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Y2 - 16 October 2023 through 19 October 2023
ER -