A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation

Automatica ◽  
2012 ◽  
Vol 48 (9) ◽  
pp. 2377-2380 ◽  
Author(s):  
Matthew O.T. Cole
Keyword(s):  
Input Shaping ◽  
Residual Vibration ◽  
Low Pass

Comparison of Polynomial Cam Profiles and Input Shaping for Driving Flexible Systems

2012 ◽  
Vol 134 (12) ◽  
Author(s):  
Brice Pridgen ◽  
William Singhose
Keyword(s):  
Rise Time ◽  
Laplace Transforms ◽  
Experimental Results ◽  
Input Shaping ◽  
Flexible Systems ◽  
Residual Vibration ◽  
Alternative Method ◽  
Cam Follower ◽  
Low Pass ◽  
Polynomial Profiles

Polynomial profiles can be used as reference commands to limit induced vibration in flexible systems. Due to their ease of design and low-pass filtering effects, polynomial profiles are often found in cam-follower systems. Polynomial profiles have also been used as smooth reference commands for automated machines. However, despite extensive work to develop and improve such profiles, inherent tradeoffs still exist between induced vibration, rise time, and ease of design. Input shaping is an alternative method for generating motion commands that reduce residual vibration. This paper compares polynomial profiles to input-shaped commands for the application of reducing vibration in flexible systems. Analyses using Laplace transforms reveal that input shapers suppress vibration at regularly spaced frequencies. However, polynomial profiles do not share this property. Simulations and experimental results show that input shaping improves rise time and reduces residual vibration in comparison to polynomial profiles.

Effect of Input Shaping on Response of Inertia Plants

2011 ◽  
Vol 121-126 ◽  
pp. 2676-2680
Author(s):  
Ming Xiao Dong ◽  
Rui Chuan Li ◽  
Qin Zu Xu
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Setting Time ◽  
Input Shaping ◽  
Pd Controller ◽  
Residual Vibration ◽  
Simulation Results ◽  
Analytical Expressions ◽  
Input Shaping Control

A poorly designed control system can lead to excessive residual vibration and long setting time. This paper investigates the effect of input shaping on control efficiency. To perform this investigation, we design a PD controller combined with input shaping for an inertia plant. We then subject it to four standard types of inputs. The responses of the control systems are described by analytical expressions. The performances of PD control and PD combined with input-shaping control are thoroughly analyzed and compared. Simulation results show that PD feedback control enhanced with input shaping minimizes overshoot and setting time.

scholarly journals INPUT SHAPING CONTROL TO REDUCE RESIDUAL VIBRATION OF A FLEXIBLE BEAM

2016 ◽  
Vol 32 (1) ◽  
pp. 75-90 ◽  
Author(s):  
Quoc Chi Nguyen ◽  
Ha Quang Thinh Ngo
Keyword(s):  
Control Algorithms ◽  
Input Shaping ◽  
Flexible Beam ◽  
Residual Vibration ◽  
Motion System ◽  
Damped System ◽  
Input Shaping Control

In this paper, three control algorithms based on input shaping method are developed to suppress the residual vibration of a flexible beam. The flexible beam is modeled as an under-damped system. Three input shapers, ZV, ZVD, and ZVDD, are used to control the flexible beam. The three control algorithms are implemented by using the Mechatrolink-III motion system. The experiments are performed to verify the effectiveness of the three control algorithms.

Input Shaping for Flexible System With Nonlinear Spring and Damper

2017 ◽  
Author(s):  
Withit Chatlatanagulchai ◽  
Ittidej Moonmangmee ◽  
Pisit Intarawirat
Keyword(s):  
Linear System ◽  
Input Shaping ◽  
Destructive Interference ◽  
Impulse Responses ◽  
Residual Vibration ◽  
Energy Principle ◽  
Nonlinear Spring ◽  
Flexible System ◽  
Input Shaper ◽  
Simulation And Experiment

Input shaping suppresses residual vibration by destructive interference of the impulse responses. Because proper destructive interference requires superposition property of the linear system, traditional input shaper only applies to the linear flexible system. In this paper, the work and energy principle is used to derive input shaper for flexible system having nonlinear spring and damper. It was shown via simulation and experiment that this type of shaper performs well with nonlinear systems. Positive, robust, and negative input shapers are discussed.

Hybrid input shaping to suppress residual vibration of flexible systems

2011 ◽  
Vol 18 (1) ◽  
pp. 132-140 ◽  
Author(s):  
Hakan Yavuz ◽  
Selçuk Mıstıkoğlu ◽  
Sadettin Kapucu
Keyword(s):  
Input Shaping ◽  
Flexible Systems ◽  
Residual Vibration

On Frequency-Domain and Time-Domain Input Shaping for Multi-Mode Flexible Structures

2003 ◽  
Vol 125 (3) ◽  
pp. 494-497 ◽  
Author(s):  
Lucy Y. Pao ◽  
Craig F. Cutforth
Keyword(s):  
Frequency Domain ◽  
Time Domain ◽  
Flexible Structures ◽  
Design Methods ◽  
Input Shaping ◽  
Residual Vibration ◽  
Know How ◽  
Frequency Domain Methods ◽  
Multi Mode

The technique of input shaping has been successfully applied to the problem of maneuvering flexible structures without excessive residual vibration. Because a shaper is designed such that vibration is eliminated at the end of the shaped input, a short shaper length means that vibration is eliminated sooner. As different shaper design methods yield different shapers, it is advantageous to know how the shaper lengths of these different methods compare. In this paper we draw comparisons between time-domain input shaping methods and frequency-domain input shaping methods after outlining conditions when non-negative amplitude shapers exist when using frequency-domain methods.

Friction-Compensating Command Shaping for Vibration Reduction

2004 ◽  
Vol 127 (4) ◽  
pp. 307-314 ◽  
Author(s):  
Jason Lawrence ◽  
William Singhose ◽  
Keith Hekman
Keyword(s):  
Steady State ◽  
Coulomb Friction ◽  
Vibration Reduction ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Point Motion ◽  
Common Operation ◽  
Point To Point ◽  
Theoretical Developments

Fast and accurate point-to-point motion is a common operation for industrial machines, but vibration will frequently corrupt such motion. This paper develops commands that can move machines without vibration, even in the presence of Coulomb friction. Previous studies have shown that input shaping can be used on linear systems to produce point-to-point motion with no residual vibration. This paper extends command-shaping theory to nonlinear systems, specifically systems with Coulomb friction. This idea is applied to a PD-controlled mass with Coulomb friction to ground. The theoretical developments are experimentally verified on a solder cell machine. The results show that the new commands allow the proportional gain to be increased, resulting in reduced rise time, settling time, and steady-state error.

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