tdehaeze/dehaeze20_activ_dampin_rotat_platf_integ_force_feedb
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Thomas Dehaeze
2020-07-03 17:04:51 +02:00
parent 955d10f149
commit a4a4e45d9e
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@@ -52,13 +52,11 @@
#+begin_export latex
\abstract{
#+end_export
# Get straight to the facts
# Decentralized Integral Force Feedback for rotating => unstable
# Two modifications are proposed
# adding an high pass filter
# adding stiffness in parallel with the force actuators
This paper investigates the use of Integral Force Feedback (IFF) for the active damping of rotating mechanical systems.
Guaranteed stability, typical benefit of IFF, is lost as soon as the system is rotating due to gyroscopic effects.
To overcome this issue, two modifications of the classical IFF control are proposed.
The first consists of slightly modifying the control law while the second consists of adding springs in parallel with the force sensor.
Both proposed modifications are compared in terms of added damping, closed-loop compliance and transmissibility.
#+begin_export latex
}
#+end_export

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