Performance Measures For Input Shaping and Command Generation

2005 ◽  
Vol 128 (3) ◽  
pp. 731-736 ◽  
Author(s):  
Kris Kozak ◽  
William Singhose ◽  
Imme Ebert-Uphoff
Keyword(s):  
Performance Measures ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Generation ◽  
Multimode System

Many performance measures for input shaping and command generation have appeared in the literature, but very rarely have these measures been critically evaluated or thoroughly discussed. In this paper we review and discuss a number of key measures of residual vibration. These measures are clarified, and mathematical and graphical interpretations of these measures are developed. In addition, a set of energy-based vibration measures are presented for use in even the most general situations, such as measuring the vibration of a nonlinear, multimode system in response to an arbitrary command.

A Multi-Mode Smooth Command Shaper With an Adjustable Maneuver Time

2015 ◽  
Author(s):  
Khaled A. Alhazza ◽  
Ziyad N. Masoud
Keyword(s):  
Resonant Frequency ◽  
Life Time ◽  
Degree Of Freedom ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Controller Performance ◽  
Multimode System ◽  
Multi Mode

Input shaping and command shaping are important techniques in reducing residual vibrations in rest-to-rest maneuvers. Jerks in these shapers can reduce the life time for the crane motors and electronic boards. In this work, a totally smooth command shaper with an independent adjustable maneuvering time is introduced to eliminate residual vibration in multimode system. The proposed technique is solved analytically and simulated numerically through several examples. Furthermore, the proposed technique requires only the resonant frequency of the system to produce a control profile. The results through several examples show a great controller performance. It is important to mention that the proposed controller can be applied on any discretized multi-degree-of-freedom system.

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.

On-Off Control With Specified Fuel Usage

1999 ◽  
Vol 121 (2) ◽  
pp. 206-212 ◽  
Author(s):  
William Singhose ◽  
Tarunraj Singh ◽  
Warren Seering
Keyword(s):  
Flexible Systems ◽  
Residual Vibration ◽  
Command Generation ◽  
Modeling Errors ◽  
Command Signals

A method for generating on-off command profiles for flexible systems is presented. The command profiles move a system without residual vibration while using a specified amount of actuator fuel. Robustness to modeling errors can be incorporated into the design of the command signals. Techniques are presented that facilitate implementation and indicate prudent choices for the amount of fuel to be used. The method is compared to other command generation techniques that balance fuel usage and slew 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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