A Command Generation Method of Point-to-Point Control for Suppressing Residual Vibration

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.

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An approach to point-to-point control for direct-drive SCARA-type robots.

IEEJ Transactions on Industry Applications ◽

10.1541/ieejias.111.63 ◽

1991 ◽

Vol 111 (1) ◽

pp. 63-69

Author(s):

Satoshi Ogasawara ◽

Tomoyuki Joichi ◽

Hirofumi Akagi

Keyword(s):

Direct Drive ◽

Point Control ◽

Point To Point

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Point-to-point control of a gantry crane: A combined flatness and IDA-PBC strategy

2007 European Control Conference (ECC) ◽

10.23919/ecc.2007.7068572 ◽

2007 ◽

Cited By ~ 1

Author(s):

Faruk Kazi ◽

Ravi Banavar ◽

Romeo Ortega ◽

N. S. Manjarekar

Keyword(s):

Gantry Crane ◽

Point Control ◽

Point To Point

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A Novel Method to Reduce the Laser Drilling Time for Hole Cluster considering the Influence of Residual Vibration of the Sample Stage

Shock and Vibration ◽

10.1155/2020/8342041 ◽

2020 ◽

Vol 2020 ◽

pp. 1-15

Author(s):

Xiaodong Wang ◽

Bin Liu ◽

Xuesong Mei ◽

Jun Yang ◽

Xialun Yun ◽

...

Keyword(s):

Laser Irradiation ◽

Delay Time ◽

Laser Drilling ◽

Residual Vibration ◽

Processing Efficiency ◽

Common Solution ◽

Vibration Attenuation ◽

Novel Method ◽

Point To Point ◽

Drilling Time

In large areas of laser drilling, the residual vibration occurs when the sample stage moves in PTP (Point to Point) movement. It affects the surface quality and processing efficiency of the holes. The common solution for this problem is to set the laser irradiation delay time by the controller to wait for the residual vibration attenuation, but the whole drilling circle will increase. In this paper, a new method is introduced to reduce the laser drilling circle. By setting the allowable threshold of the residual vibration for the subsequent process, the sum of the time in deceleration segment of the trapezoidal moving profile, and the time when the residual vibration attenuates below the amplitude threshold (ST) can be minimized as the optimization goal. The results show that for a given operating speed, there is always an optimum acceleration value for the deceleration segment of the trapezoidal moving profile, which minimizes the ST value. Further, the delay time for laser irradiation can also be estimated according to the optimal acceleration during laser drilling.

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Friction-Compensating Command Shaping for Vibration Reduction

Journal of Vibration and Acoustics ◽

10.1115/1.1924637 ◽

2004 ◽

Vol 127 (4) ◽

pp. 307-314 ◽

Cited By ~ 24

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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