Input Shaper Designs for Minimizing the Expected Levelof Residual Vibration in Flexible StructuresLucy
نویسندگان
چکیده
The method of input shaping has been shown to yield good performance in the control of exible structures while being insensitive to modeling errors. However, previous studies do not take into account the distributions of the parameter variations. We develop a new input shaping method that allows the ranges of system parameter values to be weighted according to the expected modeling errors. Comparisons with previously proposed input shaper designs in terms of shaper length, frequency insensitivity, and expected level of residual vibration are presented, illustrating the qualities of the new input shaper design method.
منابع مشابه
A Comparison of Input Shaping and Time-optimal Flexible-body Control
Input shaping is a method of reducing residual vibrations in computer-controlled machines. Shaped command profiles are generated by convolving a sequence of impulses, an input shaper, with the desired command signal. The shaped command profile will move the system without residual vibration. The performance of several types of input shapers is compared to the time-optimal flexible-body control ...
متن کاملAn Analysis of Frequency - Domain Input Shaping Designs forThree - Mode Flexible Systems
The technique of input shaping has recently been successfully applied to the problem of maneuvering exible structures without excessive residual vibration. In the method of input shaping, positive impulses are often desired because they can be used with any arbitrary (un-shaped) commands and do not cause actuator saturation (if these original unshaped commands do not cause ac-tuator saturation)...
متن کاملDesign and Implementation of Time-optimal Negative Input Shapers
Input shaping is a method for reducing residual vibrations in computer controlled machines. Vibration is eliminated by convolving a sequence of impulses, an input shaper, with a desired system command to produce a shaped input. The shaped input is then used to drive the system. The input shaper has traditionally contained only positively valued impulses. However, when the impulses are allowed t...
متن کاملInitial Investigations into the Effects of Input Shaping on Trajectory Following
The effects of input shaping on trajectory following were investigated by simulating the response of a fourth-order system with orthogonal modes and conducting experiments on an XY positioning stage. For nearly all values of damping and frequency ratio, the shaped inputs result in significantly better trajectory following than unshaped inputs. When the trajectory improvement techniques in this ...
متن کاملUsing Input Shaping to Minimize Residual Vibration in Flexible Space Structures
Input shaping is examined as a technique to reduce the residual vibration in flexible space structures. As part of a NASA program, a nonlinear threedimensional model of the Shuttle's Remote Manipulator System (SRMS) was used to test the interactions between feedback and feedforward control techniques. The problem of changing geometry systems was also examined in detail. As these systems move, t...
متن کامل