Multimode Input Shaping Control of Flexible Structures Using Frequency Modulation

2016 ◽  
Author(s):  
Ziyad N. Masoud ◽  
Khaled A. Alhazza ◽  
Mohammad A. Nazzal
Keyword(s):  
Frequency Modulation ◽  
Flexible Structures ◽  
Single Mode ◽  
Feedback System ◽  
Input Shaping ◽  
Flexible Beam ◽  
Robotic Arms ◽  
Model Based ◽  
Energy Consuming ◽  
Input Shaping Control

Bulky rigid robotic arms require significantly large energy-consuming actuators. Lighter flexible robotic manipulators have many advantages over rigid manipulators in terms of cost, energy consumption, and speed. However, their structural flexibility compromises operation precision. This paper presents a multimode frequency-modulation input shaping control strategy for a flexible hanging beam performing rest-to-rest maneuvers. Frequency-modulation input shaping is used to produce shaped acceleration commands to the beam support. Model-based feedback is used to modulate the frequencies of the beam so that all higher mode frequencies become odd-integer multiples of the fundamental frequency of the feedback system. Single-mode input shaping techniques are implemented to eliminate vibrations in all modes of the model-based feedback system, and hence, the flexible beam. Numerical simulations are used to demonstrate the performance effectiveness of the proposed strategy.

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 Control of Double-Pendulum Bridge Crane Oscillations

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
William Singhose ◽  
Dooroo Kim ◽  
Michael Kenison
Keyword(s):  
Single Mode ◽  
Input Shaping ◽  
Double Pendulum ◽  
Bridge Crane ◽  
Efficient Operation ◽  
Input Shaper ◽  
Large Amplitude Oscillation ◽  
Control Research ◽  
Pendulum Dynamics ◽  
Input Shaping Control

Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper.

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.

Frequency-Modulation Input Shaping Control of Double-Pendulum Overhead Cranes

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Ziyad N. Masoud ◽  
Khaled A. Alhazza
Keyword(s):  
Frequency Modulation ◽  
Closed Loop ◽  
Single Mode ◽  
Mode Frequency ◽  
Input Shaping ◽  
Double Pendulum ◽  
Overhead Crane ◽  
Primary Input ◽  
Shaping Technique ◽  
Input Shaper

Traditionally, multimode input shaping controllers are tuned to systems' frequencies. This work suggests an alternative approach. A frequency-modulation (FM) input shaping technique is developed to tune the resonant frequencies of a system to a set of frequencies that can be eliminated by a single-mode primary input shaper. Most of the current input shaping techniques can be used as primary input shapers for the FM input shaping technique. Virtual feedback is used to modulate the closed-loop frequencies of a simulated double-pendulum model of an overhead crane to the point where the closed-loop second mode frequency becomes an odd-multiple of the closed-loop first mode frequency, which is the necessary condition for a satisfactory performance of most single-mode input shapers. The primary input shaper is based on the first mode frequency of the closed-loop system model. The input commands to the plant of the virtual feedback system are then used to drive the physical double-pendulum. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. The performance is validated experimentally on a scaled model of a double-pendulum overhead crane.

scholarly journals Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Sameer Arabasi ◽  
Ziyad Masoud
Keyword(s):  
Control System ◽  
Frequency Modulation ◽  
Feedback Linearization ◽  
Time Dependent ◽  
Input Shaping ◽  
Specific System ◽  
Primary Input ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Input Shaping Control

This paper presents an input shaping control system for overhead crane operations involving simultaneous hoist and travel maneuvers. The control system utilizes model-based partial feedback linearization with frequency modulation. Traditional input shaping controllers target specific system frequencies. Therefore, they are incapable of accommodating the time dependant frequency associated with simultaneous hoist and travel crane maneuvers. Frequency modulation is used to tune the time-dependent system frequency to the design frequency of a primary input shaping controller. Partial feedback linearization is used to eliminate the time-dependent damping of the system. The primary input shaper frequency is based on lowest operating frequency of the system associated with the longest hoisting cable length operation. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. General arbitrary input travel and hoist commands are simulated. Results demonstrate the ability of the proposed control system to eliminate residual oscillations in all simulated cases.

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