Vibration suppression system and method of reducing vibration on flexible bar structure in vibration suppression system
AssigneeSeoul National University R&Db Foundation
InventorsDongjun Lee, Hyunsoo Yang
Life of this patent
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Abstract
A vibration suppression system includes a ground manipulator, a flexible bar structure connected to an end of the ground manipulator, and at least one vibration suppression device configured to be distributedly arranged to be attached/detached to/from the flexible bar structure and configured to be controlled to reduce vibration and deflection occurring in the flexible bar structure by dispersing a load applied to the flexible bar structure due to movement or disturbance of the ground manipulator.
Claims16
A vibration suppression system comprising:
- a ground manipulator;
- a flexible bar structure connected to an end-effector of the ground manipulator;
- and
- at least one vibration suppression device configured to be distributedly arranged to be attached/detached to/from the flexible bar structure and configured to be controlled to reduce vibration and deflection occurring in the flexible bar structure by dispersing a load applied to the flexible bar structure due to movement or disturbance of the ground manipulator, wherein
- the at least one vibration suppression device includes no actuators other than rotors;
- and wherein each of the at least one vibration suppression device comprises:
- a state estimation unit configured to estimate deflection of the flexible bar structure based on sensing data obtained through a sensor unit;
- a vibration suppression unit configured to reduce vibration and deflection of the flexible bar structure by using rotors;
- and
- a controller configured to generate a control signal to be input to the vibration suppression unit based on a deflection value of the flexible bar structure estimated by the state estimation unit, wherein the control signal comprises data about a thrust value to be generated by using the rotors.
A method of reducing vibration of a flexible bar structure in a vibration suppression system,
- wherein the vibration suppression system comprises a flexible bar structure connected to an end-effector of a ground manipulator and at least one vibration suppression device, the method comprising:
- detecting vibration modes of the flexible bar structure;
- distributedly arranging the at least one vibration suppression device in a longitudinal direction of the flexible bar structure based on the detected vibration modes;
- and
- controlling the at least one vibration suppression device to reduce vibration and deflection occurring in the flexible bar structure by dispersing a load applied to the flexible bar structure due to movement or disturbance of the ground manipulator in the at least one vibration suppression device, wherein
- the at least one vibration suppression device includes no actuators other than rotors;
- and wherein each of the at least one vibration suppression device comprises:
- a sensor unit, rotors, and a processor, and
- a state estimation unit estimates deflection of the flexible bar structure based on sensing data obtained through the sensor unit, and
- a vibration suppression unit reduces vibration and deflection of the flexible bar structure by using the rotors, and
- the processor generates a control signal to be input to the vibration suppression unit based on a deflection value of the flexible bar structure estimated by the state estimation unit, and the control signal comprises data about a thrust value to be generated by using the rotors.
Dependencies are inferred from the claim text.