Two high-authority control/low-authority control algorithms are presented and experimentally validated on a fast slewing beam system. The first one termed the constrained motion method in two-stage (CMM-TS) accomplishes the rigid-body motion control and the optimal control of vibration suppression by a stepping motor. Another termed the constrained motion method in combination (CMM-CO) combines both the optimal control from stepping motor and active damping control from piezoelectric actuator for vibration suppression. Experimental results show that these algorithms are concise in formulation, efficient in hardware realization, and effective in vibration suppression.

Issue Section:
Technical Briefs
Topics:
Active damping, Algorithms, Control algorithms, Coordinate measuring machines, Hardware, Motion control, Optimal control, Piezoelectric actuators, Stepper motors, Vibration control, Vibration suppression
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