APPARECCHIATURA PER SMORZARE VIBRAZIONI

摘要

A mass supported on a structure is driven by an actuator such that it moves in a direction of a vibration of the structure. A mechanism for detecting state variables relating to the vibration of the structure and a Kalman filter for performing a predetermined calculation processing on the state variables by comparing with a structure model included therein are provided in order to estimate proper values of state variables. From these state quantifies, control input values are calculated based on an optimal feedback gain matrix preset on the basis of an optimal regulator theory, and applied to control the actuator. With this configuration, the vibration of the mass due to a high-order vibration mode of the structure and the vibration of the mass caused by the compressibility of a hydraulic oil or the response characteristics of a servo valve are efficiently suppressed.