抄録
An efficient vibrationless starting and stopping control method for a multidegrees-of-vibration-freedom flexible mechanical system is proposed. The procedure used to derive an optimal vibrationless motion and input force are generally formulated using the modal equations of motion for a multidegrees-of-vibration-freedom flexible mechanical system. Combined control of control point velocity tracking feedback together with the vibrationless feedforward input is described. Then this method is applied to the starting and stopping control for a rotational flexible arm positioning system. It is shown from the experiment that transient vibrations can be suppressed well using the combined control of collocation velocity tracking feedback and vibrationless feedforward input.
