This study is concerned with the active vibration control of a cart-pendulum system. The input-shaping control alone is not sufficient to suppress vibrations of the cart payload, especially when external disturbance is present. In order to solve this problem, a new control technique consisting of the input-shaping and the position-input position-output feedback controls is proposed. The input-shaping control minimizes vibrations during cart motion and the position-input position-output feedback control takes charge of suppressing residual vibrations after the cart reaches the desired position. The stability of the proposed position-input position-output feedback control was investigated theoretically. The testbed was built to validate the proposed method. It was proved both theoretically and experimentally that the proposed control technique can be successfully used to control vibrations of the pendulum.
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This work was supported by the research program of Dongguk University, 2019.
Recommended by Associate Editor Kyoung-Su Park
Ji-Hwan Shin received B.S. and M.S. degrees in Department of Mechanical Engineering from Dongguk University in 2014 and 2016. He is currently a Ph.D. degree candidate at the Department of Mechanical Engineering of Dongguk University in Seoul, Korea. His research interests are in the area of active vibration control of smart structure.
Dong-Han Lee received B.S. and M.S. degrees in Department of Mechanical Engineering from Dongguk University in 2013 and 2016. He is currently a Ph.D. degree candidate at the Department of Mechanical Engineering of Dongguk University in Seoul, Korea. His research interests are in the area of active control of smart structure.
Moon K. Kwak received B.S. and M.S. degrees in Naval Architecture from Seoul National University in 1981 and 1983. He then received his Ph.D. degree from the Department of Engineering Science and Mechanics of Virginia Tech in 1989. He is currently a Professor at the Department of Mechanical, Robotics and Energy Engineering of Dongguk University in Seoul, Korea. His research interests are dynamics and control of flexible multibody system, and active vibration control of smart structure.
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Shin, J., Lee, D. & Kwak, M.K. Vibration suppression of cart-pendulum system by combining the input-shaping control and the position-input position-output feedback control. J Mech Sci Technol 33, 5761–5768 (2019). https://doi.org/10.1007/s12206-019-1120-5
- Pendulum vibration
- Position-input position-output feedback
- Vibration experiment