Applications of vibration reduction of flexible space structure using command shaping technique

Author(s):  
Yoon-Gyeoung Sung ◽  
J.P. Wander
2004 ◽  
Vol 127 (4) ◽  
pp. 307-314 ◽  
Author(s):  
Jason Lawrence ◽  
William Singhose ◽  
Keith Hekman

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.


2001 ◽  
Author(s):  
Steven Griffin ◽  
Karl Schrader

Abstract Boeing-SVS has developed an integrated modeling tool, Zelink, which effectively combines three commercial standard codes, Zemax, Simulink and Nastran, to predict the effect of quasistatic and dynamic disturbances on optical metrics of interest in optical space structures. Examples of optical metrics are time-varying wavefront error, point spread functions and predictions of image degradation. A simulation might involve specification of a slew angle and prediction of time-varying wavefront error. Different command shaping and attitude control techniques might be evaluated with respect to their ability to minimize wavefront error. Implementation of such simulations has shown significant dependence of simulation results on the structural modeling approach. In particular, one approach may introduce errors in the optical metric of interest, where another approach may avoid errors. The sensitivity of the optical metric is related to the necessity of maintaining the optical prescription when there is no structural deformation. A quasistatic rotation of the space structure should not significantly distort the optical prescription, since there is almost no structural deformation associated with this maneuver. This paper discusses structural modeling approaches and makes recommendations specific to optical space structure simulations.


2008 ◽  
Vol 130 (5) ◽  
Author(s):  
Thomas H. Bradley ◽  
Jon Danielson ◽  
Jason Lawrence ◽  
William Singhose

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.


2014 ◽  
Vol 67 (5) ◽  
Author(s):  
M. H. I. Ishak ◽  
Z. Mohamed ◽  
R. Mamat

This paper presents investigations into the applications and performance of command shaping techniques for control of payload sway of a boom crane based on filtering and the input shaping technique. The mathematical dynamic model describing the motion of the boom crane is developed using the Lagrange-Euler's equation. The dynamic characteristics of the system are studied and analysed using the Matlab Simulink in time and frequency domains. Command shaping techniques based on filtering and the input shaping techniques are then developed and used to control the payload sway of the boom crane. The performance of the control techniques are studied in terms of the level of sway reduction, time response and robustness. Finally, a comparative assessment of the effectiveness of the control schemes for sway control of a boom crane is presented and discussed.


Author(s):  
Khaled A. Alhazza ◽  
Ziyad N. Masoud ◽  
Nehal Alotaibi

To avoid excitation of higher modes of flexible and multi-mode systems, it is important to eliminate sudden and jerky inputs. To achieve this goal, researchers tend to use different smoothing techniques to reduce the effect of the command roughness. In this work, a new smooth command-shaping technique for oscillation reduction of simple harmonic oscillators is proposed. A continuous smooth wave-form acceleration command-shaper is proposed. The shaper parameters are tuned to eliminate residual vibrations in rest-to-rest maneuvers. The performance of the proposed shaper is determined analytically, simulated numerically, and validated experimentally on a scaled model of an overhead crane. Results obtained show that the proposed smooth wave-form shaper is capable of eliminating travel and residual oscillations. Furthermore, unlike traditional step command shapers, the proposed command profiles have completely smooth acceleration, velocity, and displacement profiles. Experimental results demonstrate the ability of our proposed smooth wave-form commands to eliminate residual vibrations at the end of rest-to-rest maneuvers.


2016 ◽  
Vol 39 (10) ◽  
pp. 1443-1453 ◽  
Author(s):  
Auwalu M Abdullahi ◽  
Z Mohamed ◽  
MS Zainal Abidin ◽  
S Buyamin ◽  
Amir A Bature

This paper presents an output-based command shaping (OCS) technique for an effective payload sway control of a 3D crane with hoisting. A crane is a challenging and time-varying system, as the cable length changes during the operation. The OCS technique is designed based on output signals of an actual system and reference model, does not require the natural frequency and damping ratio of the system, and thus can be utilized to minimize the hoisting effects on the payload sway. The shaper was designed by using the derived non-linear model of a 3D crane. To test the effectiveness of the controller, simulations using a non-linear 3D crane model and experiments on a lab-scale 3D crane were performed and compared with a zero vibration derivative (ZVD) shaper and a ZVD shaper designed using an average travel length (ATL) technique. In both the simulations and the experiments, the OCS technique was shown to be superior in reducing the payload sway with reductions of more than 56% and 33% in both of the transient and residual sways that were achieved when compared with both the ZVD and the ATL shapers, respectively. In addition, the OCS technique provided the fastest time response during the hoisting. It is envisaged that the method can be very useful in reducing the complexity of closed-loop controllers for both tracking and sway control.


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