TAILIEUCHUNG - Motion Control 2009 Part 9

Tham khảo tài liệu 'motion control 2009 part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 272 Motion Control In case of the PD control rotational vibration motion was damped. Also rotational vibration motion could not be observed in case of the D control. Hence it can be considered from these results that the P control excites rotational vibration motion of the base. In order to examine the characteristic of the P control figure 8 shows control input and arm link angle and also tether tension in case i . It is noted that tether tension changed large discontinuously when arm link angle was peak value. And it is also noted that arm link angle was behind the control input. Then it can be said that the P control excites rotational vibration motion of the base due to these reasons. Fig. 8. Arm link motion in case i P control In order to confirm that the D control is suitable for the developed experimental device than the PD control experiment was performed in case that the P control and the D control are employed in the 0 axis and in the 1 axis respectively. Figure 9 shows its result. It is noted that rotational vibration motion could be observed in the 0 axis with the P control and rotational vibration motion could not be observed in the 1 axis with the D control. Microgravity Experiment for Attitude Control of A Tethered Body by Arm Link Motion 273 Fig. 9. Compare the D control and the .

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