Vibration Suppression of a Pan/Tilt Platform Due to Base Excitation
Jinsiang Shaw；Ru-Jay Zheng
Steward platform ； filter-X LMS algorithm ； self-tuning regulator
|Volume or Term/Year and Month of Publication||
2005（2005 / 06 / 03）
62 - 67
In this paper a pan/tilt platform with two degrees of freedom is constructed for studying vibration suppression due to its base excitations. Pan/tilt platforms are commonly seen in the head of a waking robot, in an antenna, in a vision surveillance equipment, in a cannon platform, etc., for yaw and pitch direction control. However, due to its base vibration possibly from road or sea wave disturbance in a mobile situation, orientation control of the device mounted on the top tilt platform can be seriously affected. This paper aims to develop control techniques for suppressing vibrations of the device mounted on such a pan/tilt platform due to its base disturbances. Specifically, an adaptive filter-X LMS (FXLMS) algorithm and an adaptive self-tuning regulator (STR) are to be applied for attenuating undesirable vibration of the pan/tilt platform. Experimental tests of the control algorithms show that over 26dB and 21.6dB attenuations have been obtained by using the FXLMS and STR, respectively, for sinusoidal disturbances. Thus, validity and effectiveness of the two active control methods for suppressing vibration of the device on the pan/tilt platform is verified.
工程學 > 市政與環境工程