CLOSED-LOOP INPUT SHAPER ELIMINATING RESIDUAL VIBRATION OF MULTI-MODE FLEXIBLE SYSTEMS

2006 ◽  
Vol 42 (05) ◽  
pp. 110 ◽  
Author(s):  
Mingxiao DONG
Keyword(s):  
Closed Loop ◽  
Flexible Systems ◽  
Residual Vibration ◽  
Input Shaper ◽  
Multi Mode

scholarly journals Vibration Suppression of a 3-DOF Parallel Manipulator Based on Hybrid Negative Impulses Multi-Mode Input Shaping

2011 ◽  
Vol 2-3 ◽  
pp. 372-377 ◽  
Author(s):  
Yan Yan Han ◽  
Bing Li ◽  
Yu Lan Wei ◽  
Shou Xin Zhu ◽  
Ying Jun Dai
Keyword(s):  
Time Delay ◽  
Numerical Simulations ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Input Shaping ◽  
Vibration Modes ◽  
Residual Vibration ◽  
Input Shaper ◽  
Multi Mode

The classic multi-mode negative impulses input shapers can suppress the residual vibration of the multi-mode system effectively. But when these several frequencies bandwidths and amplitudes of vibration modes are greatly different, the time delay and the suppression performances of input shapers are decreased. However, the hybrid multi-mode negative impulses input shapers can overcome the disadvantage. The hybrid double-mode negative impulses input shapers of a 3-DOF parallel manipulator and are constructed and compared with the classic multi-mode negative impulses input shapers. And the numerical simulations are shown out, for different frequencies bandwidths and amplitudes of vibration, and the hybrid multi-mode negative impulses input shapers can increase the total suppression performance of input shaper.

Improving Manual Control of Two-Link Pendulum on Gantry Crane With Anti-Delay Closed-Loop Input Shaping

2017 ◽  
Author(s):  
Withit Chatlatanagulchai ◽  
Nitirong Pongpanich ◽  
Pisai Yaemprasuan
Keyword(s):  
Feedback Loop ◽  
Closed Loop ◽  
Smith Predictor ◽  
Human Operator ◽  
Manual Control ◽  
Gantry Crane ◽  
Input Shaping ◽  
Flexible Systems ◽  
Residual Vibration ◽  
Shaping Filter

This paper presents a novel and improved technique in manual control of flexible systems. Flexible systems, when subject to a rapid movement commanded by a human operator, exhibit severe oscillation, causing low positioning accuracy, high fatigue to the human operator, and unsafe accidents. Input shaping filter was proposed to reduce this oscillation by using the destructive interference principle where impulse responses cancel one another resulting in zero residual vibration. Recently, the input shaping filter was placed inside the feedback loop, so-called closed-loop signal shaping, to assist with the manual control of the flexible systems. The vibration was successfully suppressed. However, the input shaping filter also introduced time delays in the feedback loop, which limit the performance of the human operator. This paper offers a breakthrough idea by introducing an anti-delay algorithm called Smith predictor inside the feedback loop. When the plant model is perfect, it can be shown that the Smith predictor can entirely remove the effect of time delay from the feedback loop; therefore, improving the performance of the human operator. Experiments on manual control of a two-link pendulum on a gantry crane show the effectiveness of the proposed algorithm. The human operator was able to move the two-link pendulum with minimum residual vibration. Comparing to the currently world-best technique, the proposed technique could achieve faster maneuvering time, higher accuracy, and with less subjective difficulty.

Closed-Loop Signal Shaping With Inner-Loop Model Matching

2017 ◽  
Author(s):  
Withit Chatlatanagulchai ◽  
Kittipong Yaovaja ◽  
Puwadon Poedaeng
Keyword(s):  
Time Delay ◽  
Feedback Loop ◽  
Closed Loop ◽  
Reference Model ◽  
Loop Model ◽  
Model Matching ◽  
Residual Vibration ◽  
Input Shaper ◽  
Simulation And Experiment ◽  
Flexible Plant

Input shaper is a pre-filter, designed to suppress residual vibration of flexible systems. The input shaper can be placed inside the feedback loop, in front of the flexible plant, to avoid exciting the plant vibratory modes. The performance of this so-called closed-loop signal shaping is limited due to the time delay brought about by the input shaper. The input shaper has more time delay when the plant mode parameters are uncertain. In this paper, an inner-loop controller based on the quantitative feedback theory is designed to match the uncertain flexible plant to a reference model. As a result, the input shaper needs not be robust, and the time delay is reduced. Other benefits include shorter input shaper length, increasing controller bandwidth, applicable to time-varying plant, and reducing cost of feedback. Simulation and experiment have confirmed the effectiveness of the newly proposed technique.

scholarly journals Frequency weighted H2 optimization of multi-mode input shaper

Automatica ◽  
2020 ◽  
Vol 121 ◽  
pp. 109202
Author(s):  
Martin Goubej ◽  
Tomáš Vyhlídal ◽  
Miloš Schlegel
Keyword(s):  
Input Shaper ◽  
Multi Mode ◽  
H2 Optimization

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.

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.

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.

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