Vibration Suppression of a 3-DOF Parallel Manipulator Based on Single-Mode Input Shaping Combined with PD

2016 ◽  
pp. 429-437 ◽  
Author(s):  
Bing Li ◽  
Yulan Wei
Keyword(s):  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Single Mode ◽  
Input Shaping

Sensitivity Analysis of Vibration Suppression Based on the Multiple-Mode Negative Impulses Input Shapers

2012 ◽  
Vol 189 ◽  
pp. 312-316
Author(s):  
Yue Zhan Wang ◽  
Qi Bo Yan ◽  
Bing Li ◽  
Yu Lan Wei
Keyword(s):  
Sensitivity Analysis ◽  
Numerical Simulations ◽  
Delay Time ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
System Response ◽  
Input Shaping ◽  
Residual Vibration ◽  
Multiple Mode

The structure of a 3-DOF parallel manipulator is presented. The methodologies of multiple-mode negative impulses input shaping is introduced, which can decrease the delay time of the system response while the residual vibration is suppressed. The parameters of two-mode negative impulses and positive impulses input shapers of the 3-DOF manipulator are presented. The sensitivity analysis of these input shapers are carried out through numerical simulations, and the robust of the input shapers are presented and compared.

Reducing Multiple Modes of Vibration by Digital Filtering and Input Shaping

2010 ◽  
Author(s):  
Joshua Vaughan ◽  
William Singhose
Keyword(s):  
Vibration Suppression ◽  
Single Mode ◽  
Input Shaping ◽  
Notch Filters ◽  
Modes Of Vibration ◽  
Design Computation ◽  
Mode Vibration ◽  
Notch Filtering ◽  
Multi Mode ◽  
Better Than

The residual vibration of flexible systems can be reduced by properly shaping the reference command. There has been substantial evidence presented that input shaping is better than notch filtering for shaping reference commands to suppress vibration in mechanical systems. Much of this evidence is empirical comparisons between traditional filters and robust input shapers. Recently, a proof showing that notch filters are always equal to or longer in duration than an input shaper with identical single-mode vibration suppression constraints was presented. This paper expands on that previous result by extending the proof to multi-mode systems. The important ramification of this proof is that multi-mode input shapers suppress vibration more quickly than multi-mode notch filters. Ease of design, computation, and implementation are also discussed. Simulations of an industrial bridge crane demonstrate the key differences between the two methods.

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.

Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions

Robotica ◽  
2014 ◽  
Vol 33 (6) ◽  
pp. 1201-1230 ◽  
Author(s):  
Quan Zhang ◽  
James K. Mills ◽  
William L. Cleghorn ◽  
Jiamei Jin ◽  
Zhijun Sun
Keyword(s):  
Boundary Conditions ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Motion Tracking ◽  
Vibration Suppression ◽  
Input Shaping ◽  
Control Analysis ◽  
Residual Vibration ◽  
Modeling And Control ◽  
Exact Boundary

SUMMARYIn this paper, a rigid–flexible planar parallel manipulator (PPM) actuated by three linear ultrasonic motors for high-accuracy positioning is proposed. Based on the extended Hamilton's principle, a rigid–flexible dynamic model of the proposed PPM is developed utilizing exact boundary conditions. To derive an appropriate low-order dynamic model for the design of the controller, the assumed modes method is employed to discretize elastic motion. Then to investigate the interaction between the rigid and elastic motions, a proportional derivative feedback controller combined with a feed-forward-computed torque controller is developed to achieve motion tracking while attenuating the residual vibration. Then the controller is extended to incorporate an input shaper for the further suppression of residual vibration of flexible linkages. Computer simulations are presented as well as experimental results to verify the proposed dynamic model and controller. The input shaping method is verified to be effective in attenuating residual vibration in a highly coupled rigid–flexible PPM. The procedure employed for dynamic modeling and control analysis provides a valuable contribution into the vibration suppression of such a PPM.

Vibration Suppression of Manipulator with Multiple-Mode Negative

2012 ◽  
Vol 549 ◽  
pp. 816-820 ◽  
Author(s):  
Qing Huang ◽  
Dan Zhang ◽  
Bing Li ◽  
Yu Lan Wei
Keyword(s):  
Delay Time ◽  
Parallel Manipulator ◽  
Vibration Suppression ◽  
Dynamic Equations ◽  
System Response ◽  
Input Shaping ◽  
Structural System ◽  
Residual Vibration ◽  
Multiple Mode

The methodologies and application of multiple-mode negative impulses input shaping of a 3-DOF parallel manipulator with flexible intermediate linkages are presented in this paper. First, the structural system and the dynamic equations are expressed for a 3-DOF manipulator. Second, the multiple-mode negative impulses input shaping is introduced to reduce the residual vibration of the multiple-mode system and decrease the delay time of the system response at the same time. Finally, the theory of the multiple-mode ZV, ZVD and EI negative impulses input shapers are presented, and the two-mode negative impulses input shapers of a 3-DOF manipulator are established and compared with the positive impulses input shapers.

The Two-Degree-of-Freedom Tuned-Mass Damper for Suppression of Single-Mode Vibration Under Random and Harmonic Excitation

2005 ◽  
Vol 128 (1) ◽  
pp. 56-65 ◽  
Author(s):  
Lei Zuo ◽  
Samir A. Nayfeh
Keyword(s):  
Vibration Suppression ◽  
Single Mode ◽  
Tuned Mass Damper ◽  
Harmonic Excitation ◽  
Degree Of Freedom ◽  
Primary System ◽  
H Infinity ◽  
Mass Damper ◽  
Mode Vibration ◽  
Two Degree Of Freedom

Whenever a tuned-mass damper is attached to a primary system, motion of the absorber body in more than one degree of freedom (DOF) relative to the primary system can be used to attenuate vibration of the primary system. In this paper, we propose that more than one mode of vibration of an absorber body relative to a primary system be tuned to suppress single-mode vibration of a primary system. We cast the problem of optimization of the multi-degree-of-freedom connection between the absorber body and primary structure as a decentralized control problem and develop optimization algorithms based on the H2 and H-infinity norms to minimize the response to random and harmonic excitations, respectively. We find that a two-DOF absorber can attain better performance than the optimal SDOF absorber, even for the case where the rotary inertia of the absorber tends to zero. With properly chosen connection locations, the two-DOF absorber achieves better vibration suppression than two separate absorbers of optimized mass distribution. A two-DOF absorber with a negative damper in one of its two connections to the primary system yields significantly better performance than absorbers with only positive dampers.

scholarly journals Combining Input Shaping and Adaptive Model-Following Control for Vibration Suppression

2021 ◽  
Vol 25 (1) ◽  
pp. 56-63
Author(s):  
Jinhua She ◽  
Lulu Wu ◽  
Zhen-Tao Liu ◽  
◽  
◽  
...  
Keyword(s):  
Vibration Suppression ◽  
Golden Section ◽  
Input Shaping ◽  
Adaptive Model ◽  
Servo Systems ◽  
Elastic Load ◽  
Model Following Control ◽  
Model Following ◽  
Input Shaper ◽  
Precision Motion

Vibration suppression in servo systems is significant in high-precision motion control. This paper describes a vibration-suppression method based on input shaping and adaptive model-following control. First, a zero vibration input shaper is used to suppress the vibration caused by an elastic load to obtain an ideal position output. Then, a configuration that combines input shaping with model-following control is developed to suppress the vibration caused by changes of system parameters. Finally, analyzing the percentage residual vibration reveals that it is effective to employ the sum of squared position error as a criterion. Additionally, a golden-section search is used to adjust the parameters of a compensator in an online fashion to adapt to the changes in the vibration frequency. A comparison with other input shaper methods shows the effectiveness and superiority of the developed method.

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