Vibration Control by Optimal Trajectory under Restriction of Jerk Value.

Abstract

For vibration control of a flexible structure under high-speed motion, motion control using velocity trajectory is often used. One of the techniques used to determine optimal motion trajectory, which suppresses the residual vibration most quickly when stopping the motion, is an approach using linear programming. In this paper, this approach is extended to restrict the relative displacement and the jerk value during the motion, and to minimize vibration magnitude over some defined time interval. The proposed method improves robustness against higher-order vibration modes and nonlinearity ignored in structural modeling such as rattles and system changes. The validity of these improvements is demonstrated by simulation experiment.