Active Vibration Control of a Large Flexible Appendage Using a Novel Joint Mechanism

Table 6

Vibration control effect in Experiments I and II.

Experiments		Amplitude (°)		Major frequency		Current (RMS)
I	Without control (kp = 0)	–11.97°–9.99°	Amplitude (°)	0.08 Hz	0.17 Hz	0 A
				3.22°	3.17°
	With control (kp = 0.2)	–3.13°–2.34°	Amplitude (°)	1.07°	0.48°	2.052 A
			Control effect (%)	66.77%	84.86%
			Control effect (dB)	–9.57 dB	–16.40 dB
II	Without control (kp = 0)	–11.49°–7.58°	Amplitude (°)	0.07 Hz	0.13 Hz	0 A
				4.81°	2.60°
	With control (kp = 0.2)	–2.06°–1.59°	Amplitude (°)	0.86°	0.11°	1.358 A
			Control effect (%)	82.12%	95.77%
			Control effect (dB)	–14.95 dB	–27.47 dB