Feedforward Friction Compensator Design for Shake Table System

Öz

This study deals with the design of feedforward compensator for the shake table system via Higher Order Sinusoidal Input Describing Functions (HOSIDFs) in order to reduce the performance degrading effect of the friction existing in the system. In this study, HOSIDFs are used to analyze the effect of Coulomb type friction on the output of the system. The study consists of implementation and design of feedforward compensator whose coefficients are calculated via HOSIDF based cost function given in the study. The study also involves harmonic plots and time-domain result of the system output which is the position of the shake table in order to illustrate the effect of the proposed feedforward compensator which improves the reference tracking performance via the reduction of the friction effect in the shake table system.

Anahtar Kelimeler

• Describing functions,Shake table,Coulomb friction model

Titreşim Masası Sisteminde Sürtünme Etkisini Azaltan İleri Beslemeli Kompanzatör Tasarımı

Öz

Bu çalışmada, yüksek mertebeli sinüzoidal tanımlama fonksiyonları kullanılarak titreşim masası sisteminde etkin olan mekanik sürtünmenin sistemin referans takip performansını azaltan etkisini düşürmek üzere ileri beslemeli bir kompanzatör tasarımı ele alınmıştır. Çalışmada, yüksek mertebeli sinüzoidal tanımlama fonksiyonları sistemde bulunan ve Coulomb tipi olarak ifade edilen mekanik sürtünmenin sistem çıkışına olan etkisini analiz etmek amacıyla kullanılmıştır. Bu çalışma, ilerleyen  bölümlerde detaylı olarak verilen bir maliyet fonksiyonu üzerinden hesaplanan ileri beslemeli kompanzatörün tasarımı ve sisteme uygulanmasını içermektedir. Ayrıca çalışmada tasarlanan kompanzatörün sistemdeki sürtünme etkisini azaltarak sistemin referans takip performansını iyileştirdiğini göstermek üzere titreşim masasının hareket eden üst tablasının pozisyonu olan sistem çıkışının harmonik grafiklerine ve zaman cevaplarına da yer verilmiştir.

Anahtar Kelimeler

• Tanımlama fonksiyonları,Titreşim masası,Coulomb sürtünme modeli

Kaynakça

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