予見サーボダンパに関する研究 : 予見制振メカニズムについて

抄録

This paper deals with an active control of an impact vibration using a preview control. It is the purpose of this paper to realize a servo damper system with the preview control and to verify the capability of suppressing the impact vibration. First, with a view to clarifying the mechanism of a vibration control by preview action, this paper presents a control chart to estimate the preview control effect. Then, based upon the control chart, the superiority of the preview control over a feedforward control is discussed. Next, by placing an emphasis on realizing the servo damper system, a preview control element is modified to be an approximate integral form, with the result that a low gain control element is obtained. Moreover, a hybrid control compensator is proposed, which consists of a digital and an analog component ; that is, one to control a preview time and the other to calculate the control signal. Finally, an experiment is carried out, demonstrating the control effect of the servo damper system with the preview control.