Adaptive Control for a Mechanical System with Oscillation Disturbance

ISSN： 0022-460X

Source： Journal of Sound and Vibration, Vol.199, Iss.1, 1997-01, pp. : 107-123

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Abstract

A two-stage spring-lumped mass system was designed and built to investigate the suppression of vibration amplitude and the coupling tracking control problems. Disregarding the non-linear factors and unknown parameters, the system mathematical model could be formulated by using the state variable technique. A corresponding observable discrete time model was identified from a modified recursive least squares method based on the input and output data of this system. Then a robust multi-variable adaptive control strategy with pole assignment structure was proposed to control this mechanical system. Experiments were performed to evaluate the feasibility of this active vibration control strategy and the influence of the parameters estimator on the control performance. The experimental results showed that this approach can effectively diminish the amplitude of vibration and overcome the system coupling effect to obtain accurate position tracking.