Using Two-mode Input Shaping to Repress the Residual Vibration of Cherry Pickers

2011 ◽  
Author(s):  
Jia Hongxia ◽  
Li Wanli ◽  
William Singhose
Keyword(s):  
Input Shaping ◽  
Residual Vibration

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.

Hybrid Multi-Mode Input Shaping Suppresses the Vibration of a 3-DOF Parallel Manipulator

2011 ◽  
Vol 291-294 ◽  
pp. 2115-2118 ◽  
Author(s):  
Bing Li ◽  
Yu Lan Wei ◽  
Shou Xin Zhu ◽  
Yu Qing Zheng
Keyword(s):  
Time Delay ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Dynamic Equations ◽  
System Response ◽  
Input Shaping ◽  
Structural System ◽  
Residual Vibration ◽  
Multi Mode

The methodologies and application of hybrid multi-mode positive impulses input shaping of a 3-DOF flexible parallel manipulator in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the hybrid multi-mode positive impulses input shaping is introduced to reduce the residual vibration of the multi-mode system or to decrease the time-delay of the system response at the same time. The theory of the hybrid multi-mode positive impulses input shapers are presented, and the hybrid two-mode positive impulses input shapers of a 3-DOF manipulator are established and compared with the classic multi-mode positive impulses input shapers. Finally, the numerical simulations are made, and the robust of the input shapers are presented and compared.

Two-Dimensional Input Shaping for One-Dimensional Continua

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
Amir Lotfi-Gaskarimahalle ◽  
Christopher D. Rahn
Keyword(s):  
Closed Form ◽  
Boundary Control ◽  
Position Control ◽  
Discrete Systems ◽  
Point Load ◽  
Input Shaping ◽  
Beam Model ◽  
Residual Vibration ◽  
One Dimensional ◽  
Cantilevered Beam

This paper extends input shaping control to one-dimensional continua. Unlike discrete systems where the input is shaped only in the temporal domain, temporal and spatial input shaping can produce zero residual vibration in setpoint position control of distributed strings and beams. For collocated and noncollocated boundary control of strings and domain control of strings and pinned beams, the response to step inputs is solved in closed form using delays. For a clamped beam model, a closed form infinite modal series is used. The boundary controlled string can be setpoint regulated using two-pulse zero vibration (ZV) and three-pulse zero vibration and derivative (ZVD) shapers but ZVD is not more robust to parameter variations than ZV, a unique characteristic of second-order partial differential equations systems. Noncollocated ZV and ZVD boundary control enables rigid body translation of a string with zero residual vibration. Domain controlled strings and pinned beams with spatial input distributions that satisfy certain orthogonality conditions (e.g., midspan point load or uniformly distributed load) can be setpoint regulated with shaped inputs. For the cantilevered beam, modal shaping of the input distribution and ZV or ZVD temporal shaping drives the tip to the desired position with zero residual vibration.

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