(c) Control force – IMSC design 1 (d) Point accelerance FRF – IMSC design 1 Fig. 4 Uncontrolled and controller responses to walking excitation as well as actuator force and point accelerance frequency response functions (FRFs) for IMSC design 1 4.2 IMSC Controller 2 In this second controller design, the settings are tuned to achieve an increase in damping of both the 1st and 2nd modes of the ROM structural model by up to 20 times. Figs. 5a and 5d show the uncontrolled and controlled acceleration responses of the laboratory structure model to a walking excitation force noted in section 1.2. Fig. 5c illustrates the control force and Fig. 5d shows the point mobility frequency response function for the uncontrolled and controlled structural model. The peak 1s running RMS acceleration responses for the uncontrolled and controlled ROM are 0.44 m/s2 and 0.054m/s2, respectively. (a) (b) 220
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