후루타 펜둘럼을 이용한 비선형 진동 시스템의 입력 성형 기법 평가

Abstract

There are many nonlinear vibration problems of mechanical structures because of various reasons such as geometric parameters, impact loads, or property of materials. One simple solution for the suppression of nonlinear structural vibration is input shaping that generates a command signal to cancel its vibration. However, a motion platform to evaluate the performance of input shapers for nonlinear vibration is rare. This paper presents the evaluation of input shaping methods for the nonlinear vibration system using a Furuta pendulum. First, the mathematical model of the Furuta pendulum is introduced and its nonlinear vibration characteristic is analyzed. Then, commands for canceling the nonlinear vibration of the Furuta pendulum are generated with various input shapers such as ZV, ZVD, and ZVDD. Finally, we illustrate the effects of input shapers on the nonlinear Furuta pendulum by comparing the pendulum overshoot, settling time, and vibration-reduction ratio. The Furuta pendulum is shown to be a good motion platform to evaluate input shaping methods for nonlinear vibration systems.