Residual Vibration Control of Underwater Systems Moving Underwater Using Command Shaping Technique

摘要：

　　Input shaping is a feed-forward control technique which is used for generating shaped commands to suppress the residual vibrations of a system.In this paper,an underwater weight positioning system (WPS) and a fuel handling system have been considered as a pendulum system.It has been simulated to match the experimental response,giving the information required for designing the input shaper.A zero vibration (ZV) shaper has been designed to suppress the residual vibration.Underwater experiments have been implemented by transforming the payload straight in the water with command velocity.A trapezoidal controller has also been used to compare with the ZV shaper.The effectiveness and applicability of each method have been analyzed through experimental results.

关键词： Vibration control weight positioning nuclear fuel handling system command shaping time-optimal control

作者: Mingxu Piao Umer Hameed Shah Jae Young Jeon Keum-Shik Hong

作者单位: Department of Cogno-Mechatronics Engineering,Pusan National University,30 Jangjeon-dong,Geumjeong-gu Power MnC SK Hubsky Building 23F,Oncheon-dong,Dongrae-gu,Busan 607-831,Republic of Korea Department of Cogno-Mechatronics Engineering,Pusan National University,30 Jangjeon-dong,Geumjeong-gu

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 2161-2166

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）