Filter Design of Adjusting Common Phase for Vibration Suppression Control of Multi-Degree-of Freedom System
Hiroshi Hamamatsu*,, Toshiyuki Tachibana**, Yasunobu Hitaka*, Seiji Furuno*, Takayuki Matsuo*, and Shigeru Futami***
*National Institute of Technology, Kitakyushu College
5-20-1 Shii, Kokuraminami-ku, Kitakyushu 802-0985, Japan
**Kyushu Institute of Technology, Kitakyushu, Japan
***Laboratory of System’s Function Corp., Tsukuba, Japan
In flexible structures such as a stacker crane, vibration is generated by the high acceleration of the traveling axis in the load transportation slider. Vibration suppression is necessary for productivity improvement. We utilized the acceleration feedback control for vibration suppression. The flexible structure has several natural vibration modes of varying phase, and vibration suppression is difficult by the simple feedback control. The second mode is excited by the simple feedback control for the vibration suppression of the first mode when the phase between the first mode and the second mode are different, e.g., a flexible structure. This paper proposes a filter design by adjusting the common phase for the feedback control. The filter using the operational amplifier reverses the phase of the second mode and such that it is the same as the first mode. The effect of vibration suppression is verified by the experiment.
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