Vibration Suppression of a Flexible Slewing Arm Using Tip Acceleration Compensating Time Delay

Abstract

A vibration suppression technique for a flexible slewing arm using tip accelerometer is presented where the first-order vibration mode as well as a transmission time delay are employed in an LQ compensator. This is implemented inside an I-PD servo major loop for controlling the angle of the hub. Simulation and experimental results demonstrate that making use of the time delay contributes to decrease unwanted vibrations.