Abstract
This paper deals with a wave control strategy for multiple pendulums system by the lateral motion control of the support. The multiple simple-pendulums system to which the controlled multiple pendulums system is virtually connected can give the lateral movement of the support of the controlled system based on the wave propagation. By assuming the wave solution of the equation of motion of the n-th pendulum of homogeneous simple-pendulums system, counting from the bottom one, has wave propagating characteristics inherent to the number 'n', the transfer function between the angles of pendulums connected next to each other can be expressed explicitly in time domain. This transfer function (impulse function) and the measured angle of uppermost pendulum give the lateral motion of the support to realize wave propagating in the controlled pendulums system. As this control includes no position control of the support, position and velocity feedback control inputs are added. The performance of wave control may become lower by adding the motion control input; however, we have the advantage to realize both wave control and support position control by one actuator of the support movement. An optimization in the wave and motion control has been conducted by tuning the feedback coefficients. Numerical simulation has been done based on the presented strategy.
