An adaptive input shaping control scheme for vibration suppression in slewing flexible structures

1993 ◽  
Vol 1 (2) ◽  
pp. 114-121 ◽  
Author(s):  
A. Tzes ◽  
S. Yurkovich
Keyword(s):  
Vibration Suppression ◽  
Flexible Structures ◽  
Input Shaping ◽  
Control Scheme ◽  
Input Shaping Control

Closed-Loop Input Shaping Control of Vibration in Flexible Structures via Adaptive Sliding Mode Control

2012 ◽  
Vol 19 (2) ◽  
pp. 221-233 ◽  
Author(s):  
Ming-Chang Pai
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Flexible Structures ◽  
Adaptive Sliding Mode Control ◽  
Input Shaping ◽  
Parameter Uncertainties ◽  
Residual Vibration ◽  
Shaping Technique ◽  
Control Scheme ◽  
Input Shaping Control

Input shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping technique depends on the amplitudes and instants of impulse application. However, systems always have parameter uncertainties which can lead to performance degradation. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structures. The algorithm is based on input shaping control and adaptive sliding mode control. The proposed scheme does not need a priori knowledge of upper bounds on the norm of the uncertainties, but estimates them by using the adaptation technique. This scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parameter uncertainties and external disturbances as well. Furthermore, it is shown that increasing the robustness to parameter uncertainties does not lengthen the duration of the impulse sequence. Simulation results demonstrate the efficacy of the proposed closed-loop input shaping control scheme.

scholarly journals Vibration Suppression GUI Tool based Input Shaping Control and Its Applications to Industrial Processes

2009 ◽  
Vol 42 (16) ◽  
pp. 233-238
Author(s):  
Kazuhiko Terashima ◽  
Minh Duc Duong ◽  
Youji Masui ◽  
Hirotoshi Kawamura ◽  
Toshio Kamigaki ◽  
...  
Keyword(s):  
Vibration Suppression ◽  
Industrial Processes ◽  
Input Shaping ◽  
Input Shaping Control

scholarly journals Performance Of Hybrid Learning Control With Input Shaping For Input Tracking And Vibration Suppression Of A Flexible Manipulator

2012 ◽  
Author(s):  
M. Z. Md. Zain ◽  
M. O. Tokhi ◽  
Z. Mohamed
Keyword(s):  
Iterative Learning Control ◽  
Vibration Suppression ◽  
Hybrid Learning ◽  
Learning Control ◽  
Iterative Learning ◽  
Body Motion ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
Control Input ◽  
Control Scheme

Objektif kertas kerja ini ialah untuk mengkaji keberkesanan gabungan pengawal pembelajaran berulang cerdik dan teknik pembentuk masukan bagi penjejakan masukan dan pengurangan getaran pada hujung suatu pengolah fleksibel. Model dinamik sistem tersebut diterbitkan menggunakan kaedah unsur terhingga. Pada permulaan, pengawal kadaran–kebezaan (PD) menggunakan sudut dan halaju hub direka bentuk untuk kawalan pergerakan badan tegar sistem. Kemudian, pengawal pembelajaran berulang dengan algoritma genetik dan pengawal suap hadapan berasaskan teknik pembentuk masukan ditambahkan untuk kawalan getaran sistem. Keputusan simulasi dalam domain masa dan frekuensi diberikan. Keberkesanan pengawal yang direka bentuk ini dikaji berasaskan penjejakan masukan dan kadar pengurangan getaran sistem. Keberkesanan pengawal ini untuk sistem pengolah fleksibel berbagai beban juga dikaji. Kata kunci: Pengolah fleksibel, algoritma genetik, kawalan cerdik, kawalan pembelajaran berulang, pembentukan masukan The objective of the work reported in this paper is to investigate the performance of an intelligent hybrid iterative learning control scheme with input shaping for input tracking and end–point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using finite element method. Initially, a collocated proportional–derivative (PD) controller utilizing hub–angle and hub–velocity feedback is developed for control of rigid–body motion of the system. This is then extended to incorporate iterative learning control with genetic algorithm (GA) to optimize the learning parameters and a feedforward controller based on input shaping techniques for control of vibration (flexible motion) of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performance of hybrid learning control with input shaping scheme is assessed in terms of input tracking and level of vibration reduction. The effectiveness of the control schemes in handling various payloads is also studied. Key words: Flexible manipulator, genetic algorithms, intelligent control, iterative learning control, input shaping

An Input Shaping Control Scheme with Application on Overhead Cranes

2019 ◽  
Vol 20 (5) ◽  
pp. 561-573 ◽  
Author(s):  
Khalid Alghanim ◽  
Abdullah Mohammed ◽  
Masood Taheri Andani
Keyword(s):  
Optimization Technique ◽  
Sensitivity Analyses ◽  
Input Shaping ◽  
Residual Vibration ◽  
System Sensitivity ◽  
Cable Length ◽  
Control Scheme ◽  
Input Acceleration ◽  
Input Shaping Control ◽  
Continuous Range

AbstractA new optimization technique is developed to generate a step-input acceleration function for an input shaping harmonic system. This approach is integrated into an overhead crane model for a rest-to-rest maneuver with standard and nonstandard maneuver settings. The proposed method guarantees the satisfaction of the system constraints and desired final conditions, while it minimizes the system sensitivity to crane cable-length variations. The minimal system sensitivity is achieved through an optimization algorithm that provides zero vibration and a minimum integral of system sensitivity over a continuous range of crane cable length. Numerical simulations are conducted to demonstrate the feasibility of the proposed shaper in eliminating the residual vibration at the end of a programmed maneuver. Sensitivity analyses are also performed to verify the robustness of the new shaper. In comparison to the previous shapers, the new methodology is significantly less sensitive and can effectively handle different arbitrary maneuver times.

scholarly journals Quick Suppression of Vibration of Robot via Hybrid Input Shaping Control Strategy

2019 ◽  
Vol 37 (3) ◽  
pp. 636-642
Author(s):  
Yulan Wei ◽  
Bing Li ◽  
Qingzhu Zhang ◽  
Pengfei Ou
Keyword(s):  
Response Time ◽  
Control Strategy ◽  
Vibration Suppression ◽  
Response Speed ◽  
Parallel Robot ◽  
Input Shaping ◽  
Frequency Bandwidth ◽  
Residual Vibration ◽  
Response Curves ◽  
Input Shaping Control

When the vibration amplitude and resonant frequency bandwidth of each mode are different in the multiple-modal system, the response time of a system is increased but the residual vibration is effectively reduced by the positive impulses multiple-modal input shapers. However, a negative impulses hybrid multiple-modal input shaping method can solve those problems. The basic principle of this control strategy and a 3-DOF parallel robot were introduced. Six negative impulses hybrid input shapers to reduce vibration of the first two modes were constructed based on the robot. Using simulation methods, the response time and vibration suppression abilities of various negative impulses hybrid two-modal input shapers (NHTIS) were obtained by analyzing the vibration response curves of these input shapers, and comparing with positive and negative impulses two-modal input shapers, respectively. The results show that the NHTIS can improve the response speed of the system while significantly reducing the multiple-modal residual vibration.

Vibration Suppression for Large-Scale Flexible Structures Using Deep Reinforcement Learning Based on Cable-Driven Parallel Robots

2020 ◽  
Author(s):  
Haining Sun ◽  
Xiaoqiang Tang ◽  
Jinhao Wei
Keyword(s):  
Reinforcement Learning ◽  
Large Scale ◽  
Vibration Suppression ◽  
External Disturbance ◽  
Flexible Structures ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Gradient Algorithm ◽  
Normal Operation ◽  
Control Scheme

Abstract Specific satellites with ultra-long wings play a crucial role in many fields. However, external disturbance and self-rotation could result in undesired vibrations of flexible wings, which affects the normal operation of the satellites. In severe cases, the satellites will be damaged. Therefore, it is imperative to conduct vibration suppression for these flexible structures. Utilizing deep reinforcement learning (DRL), an active control scheme is presented in this paper to rapidly suppress the vibration of flexible structures with quite small controllable force based on a cable-driven parallel robot (CDPR). To verify the controller’s effectiveness, three groups of simulation with different initial disturbance are implemented. Besides, to enhance the contrast, a passive pre-tightening scheme is also tested. First, the dynamic model of the CDPR that is comprised of four cables and a flexible structure is established using the finite element method. Then, the dynamic behavior of the model under the controllable cable force is analyzed by Newmark-ß method. Furthermore, the agent of DRL is trained by the deep deterministic policy gradient algorithm (DDPG). Finally, the control scheme is conducted on Simulink environment to evaluate its performance, and the results are satisfactory, which validates the controller’s ability to suppress vibrations.

An adaptive PID-like controller for vibration suppression of piezo-actuated flexible beams

2017 ◽  
Vol 24 (12) ◽  
pp. 2656-2670 ◽  
Author(s):  
Teerawat Sangpet ◽  
Suwat Kuntanapreeda ◽  
Rüdiger Schmidt
Keyword(s):  
Vibration Suppression ◽  
Flexible Structures ◽  
Flexible Beam ◽  
Flexible Beams ◽  
Present Scheme ◽  
Infinite Dimensional ◽  
Infinite Dimensional Systems ◽  
Finite Dimensional ◽  
Control Scheme ◽  
The Stability

Flexible structures have been increasingly utilized in many applications because of their light-weight and low production cost. However, being flexible leads to vibration problems. Vibration suppression of flexible structures is a challenging control problem because the structures are actually infinite-dimensional systems. In this paper, an adaptive control scheme is proposed for the vibration suppression of a piezo-actuated flexible beam. The controller makes use of the configuration of the prominent proportional-integral-derivative controller and is derived using an infinite-dimensional Lyapunov method. In contrast to existing schemes, the present scheme does not require any approximated finite-dimensional model of the beam. Thus, the stability of the closed loop system is guaranteed for all vibration modes. Experimental results have illustrated the feasibility of the proposed control scheme.

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