A Multi-Mode Smooth Command Shaper With an Adjustable Maneuver Time

2015 ◽  
Author(s):  
Khaled A. Alhazza ◽  
Ziyad N. Masoud
Keyword(s):  
Resonant Frequency ◽  
Life Time ◽  
Degree Of Freedom ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Controller Performance ◽  
Multimode System ◽  
Multi Mode

Input shaping and command shaping are important techniques in reducing residual vibrations in rest-to-rest maneuvers. Jerks in these shapers can reduce the life time for the crane motors and electronic boards. In this work, a totally smooth command shaper with an independent adjustable maneuvering time is introduced to eliminate residual vibration in multimode system. The proposed technique is solved analytically and simulated numerically through several examples. Furthermore, the proposed technique requires only the resonant frequency of the system to produce a control profile. The results through several examples show a great controller performance. It is important to mention that the proposed controller can be applied on any discretized multi-degree-of-freedom system.

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.

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.

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.

Performance Measures For Input Shaping and Command Generation

2005 ◽  
Vol 128 (3) ◽  
pp. 731-736 ◽  
Author(s):  
Kris Kozak ◽  
William Singhose ◽  
Imme Ebert-Uphoff
Keyword(s):  
Performance Measures ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Generation ◽  
Multimode System

Many performance measures for input shaping and command generation have appeared in the literature, but very rarely have these measures been critically evaluated or thoroughly discussed. In this paper we review and discuss a number of key measures of residual vibration. These measures are clarified, and mathematical and graphical interpretations of these measures are developed. In addition, a set of energy-based vibration measures are presented for use in even the most general situations, such as measuring the vibration of a nonlinear, multimode system in response to an arbitrary command.

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.

Command Shaping Slewing Motions for Tower Cranes

2010 ◽  
Vol 132 (1) ◽  
Author(s):  
Jason Lawrence ◽  
William Singhose
Keyword(s):  
Nonlinear Dynamics ◽  
Rotational Motion ◽  
Effective Control ◽  
Input Shaping ◽  
Residual Vibration ◽  
Command Shaping ◽  
Tower Crane ◽  
Control Scheme ◽  
Point To Point ◽  
Gantry Cranes

Input shaping has been shown to be a practical and effective control scheme for reducing payload swing on industrial bridge and gantry cranes. However, when applied to tower cranes, standard input shapers will have degraded performance due to the nonlinear dynamics of rotational motion. To alleviate this problem, two new command generators for tower cranes are developed for a point-to-point slewing motion. It is shown that standard shaping techniques greatly reduce oscillation and the new tower crane command generators cause even less residual vibration. Simulations and experiments verify the results.

Model Reference Control With Command Shaping for a Micro-Electromagnetic Actuator With Input Constraints

2019 ◽  
Author(s):  
Gerald Eaglin ◽  
Joshua Vaughan
Keyword(s):  
Reference Model ◽  
Electromagnetic Actuator ◽  
Input Shaping ◽  
Input Constraints ◽  
Residual Vibration ◽  
Model Reference ◽  
Command Shaping ◽  
Model Reference Control ◽  
Limiting Property ◽  
Nonlinear Plants

Abstract Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.

Effect of Input Shaping on Response of Inertia Plants

2011 ◽  
Vol 121-126 ◽  
pp. 2676-2680
Author(s):  
Ming Xiao Dong ◽  
Rui Chuan Li ◽  
Qin Zu Xu
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Setting Time ◽  
Input Shaping ◽  
Pd Controller ◽  
Residual Vibration ◽  
Simulation Results ◽  
Analytical Expressions ◽  
Input Shaping Control

A poorly designed control system can lead to excessive residual vibration and long setting time. This paper investigates the effect of input shaping on control efficiency. To perform this investigation, we design a PD controller combined with input shaping for an inertia plant. We then subject it to four standard types of inputs. The responses of the control systems are described by analytical expressions. The performances of PD control and PD combined with input-shaping control are thoroughly analyzed and compared. Simulation results show that PD feedback control enhanced with input shaping minimizes overshoot and setting time.

Sign in / Sign up

Export Citation Format

Share Document