Swing response measuring and nonlinear error modification of suspended structure system in pendulum vibration mode

In order to solve the state measurement problem of pendulum vibration of a suspended mass system in multi-motion modes, the inclinometer sensors based on acceleration measuring principle are introduced and the formulation of the gain coefficients from the signal of sensor acceleration to structural pendulum angle is established through the theoretical analysis, which can be used to solve the measurement of planar motion of the system. Furthermore, after nonlinear modifications, the measurement results can reach a high precision. While, similar to the motion control problem, the acceleration-based inclinometer sensor will lose its effectiveness owing to the gyrus motion mode of the suspended structure, and the gyroscope is needed to measure the angular velocity, then the pendulum angle is acquired through mathematical integration calculations. At last, the two motion modes of the suspended mass system are both measured through experimental verifications, the results of which soundly prove the feasibility and accuracy of the measuring method proposed in this paper. In addition, for the complicated planar and rotary coupled motion modes, the inclinometer and the gyroscope should be integrated together to measure the pendulum motion state of the suspended mass system.