Residual vibration control of underwater systems moving underwater using command shaping technique

2014 ◽  
Author(s):  
Mingxu Piao ◽  
Umer Hameed Shah ◽  
Jae Young Jeon ◽  
Keum-Shik Hong
Keyword(s):  
Vibration Control ◽  
Residual Vibration ◽  
Command Shaping ◽  
Shaping Technique

Command Shaping Under Nonsymmetrical Acceleration and Braking Dynamics

2008 ◽  
Vol 130 (5) ◽  
Author(s):  
Thomas H. Bradley ◽  
Jon Danielson ◽  
Jason Lawrence ◽  
William Singhose
Keyword(s):  
Nonlinear System ◽  
Numerical Optimization ◽  
Analytic Solution ◽  
Effective Means ◽  
Optimization Approach ◽  
Bridge Crane ◽  
Residual Vibration ◽  
Command Shaping ◽  
Shaping Technique ◽  
Braking Dynamics

The conventional unity magnitude zero vibration (UM-ZV) command shaping technique is an effective means for eliminating vibration in linear mechanical systems with on-off actuators. This paper discusses how the UM-ZV command shaping technique is affected by a common nonlinearity: nonsymmetrical accelerating and braking dynamics. Two approaches for creating new types of UM-ZV shaped commands are presented: a closed-form analytic solution and a numerical optimization approach. Both methods reduce residual vibration of the nonlinear system more effectively than the conventional UM-ZV shaped commands. Simulations and experiments on a bridge crane confirm the effectiveness of the new commands.

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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