The Proceedings of the Symposium on the Motion and Vibration Control
Online ISSN : 2424-3000
2001.7
Session ID : 307
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307 Task Priority Based Mode Shaping Method for In-phase Design of Flexible Structures Aiming at High Speed and Accurate Positioning
Tsuneo YOSHIKAWAJun UEDA
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Abstract
The flexibility of the mechanical system is one of the factors of the bandwidth limitation. Especially, it is known that an out-of-phase vibration mode makes the closed loop unstable with the negative feedback of the positioning error. In this paper, a novel mode shaping method for in-phase design of flexible structures is proposed. We classify in-phase mode shaping into two types based on the boundary passed across during the shaping process. By the proposed method, the out-of-phase modes are shaped into in-phase in order of the natural frequencies applying a task priority based modification scheme. We also propose a method of selecting the boundary, so that the vibration mode is shaped into the arbitrary type of in-phase design.
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© 2001 The Japan Society of Mechanical Engineers
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