Vibration Suppression of a Pan/Tilt Platform Due to Base Excitation

• Main Authors: Ru-Jay Zheng, 鄭如傑
• Other Authors: 蕭俊祥
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/u7avdh

碩士 === 國立臺北科技大學 === 機電整合研究所 === 93 === This thesis aims to attenuate vibrations of a two-degree-of-freedom pan/tilt platform subjected to base excitation. Active vibration control is employed in the experiment and two rate sensors are used for measuring respective yaw and pitch rate of the pan/tilt platform. The measured rate signals are then pseudo-integrated to have the angle displacements for feedback control. Two active vibration controllers of the Filtered-X LMS algorithm and self-tuning regulator are designed to produce a suitable anti-vibration for attenuating platform vibrations. A six degree-of-freedom Steward platform is utilized for providing single and dual frequency disturbances to the base of the pan/tilt platform. Experimental results show that for single-frequency base disturbances, over 20 dB vibration attenuation can be obtained for independent yaw or pitch control, whereas 12~18 dB vibration reduction attained for simultaneously yaw and pitch vibration control. For dual-frequency base disturbances, 8~12 dB vibration attenuation can be obtained for independent yaw or pitch control, whereas 8~11 dB vibration reduction attained for simultaneously yaw and pitch vibration control. Therefore, the two active vibration controllers of Filtered-X LMS algorithm and self-tuning regulator are shown to have capabilities for vibration attenuation under different disturbance conditions and within short time of less than 20 seconds.