ABSTRACT

Fast repositioning of the mechanical systems is a very actual topic especially when the systems are flexible. Every impact is exciting vibrations and when the system is low damped the residual vibrations preserve for a long time when compared to the time of repositioning. The methods which can control the flexible structures indeed exist. They are mostly feed forward methods called “input shaping”. IS when knows the natural frequencies of the system can pre-calculate the shape of the input (displacement law). These techniques work well when the system does not change its characteristics in time and when there is no disturbance. These impacts can be reduced only by methods with the feedback. The wave-based control is one of these methods. Wave-based control is a powerful, relatively new strategy that has many advantages over most existing techniques. The central idea is to consider the actuator motion as launching mechanical waves into the flexible system while simultaneously absorbing returning waves. This simple, intuitive idea leads to robust, generic, highly efficient, adaptable controllers, allowing rapid and almost vibrationless re-positioning of the remote load (tip mass). For the first time there is a generic, high-performance solution to this important problem that does not depend on an accurate system model.
The important questions are: stability, realization using real actuators (servomotors).

 

Short Bio:

Ondrej Marek have received his PhD degree in Mechanics of Solids, Deformable Bodies and Continua at the Department of Mechanics and Mechatronics at the Czech Technical University in Prague (CTU in Prague) in 2014. Currently he works as a researcher in research institute “VUTS Liberec” in Liberec, Czech Republic. His main research interests are in theory and control of vibrating structures. His dissertation thesis is called “The position control of flexible structures using wave-based method”.