Hostname: page-component-7dd5485656-bvgqh Total loading time: 0 Render date: 2025-10-31T05:16:21.379Z Has data issue: false hasContentIssue false
  • English
  • Français

Vibration reduction in flexible systems using a time-varying impulse sequence

Published online by Cambridge University Press:  09 March 2009

Jung-Keun Cho  and
Youn-Sik Park
Jung-Keun Cho
Affiliation:
Center for Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejeon 305–701 (Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

An input shaping technique using a time-varying impulse sequence is presented to reduce the motion-induced vibration of flexible systems in a feedforward way.

The decoupled modal responses for a general linear time-varying system are firstly approximated. Upon this approximation, the time-varying impulse sequences to suppress the vibrational modes are found. The reference inputs to the systems are shaped by convolving with the time-varying impulse sequence to suppress the multimode vibrations. This technique can be also applied to suppress the vibration of nonlinear time-varying systems.

The performance of this method is demonstrated with two practical examples: a moving overhead crane and a two-link robot manipulator. Consequently, this study provides an input shaping technique applicable to the vibration suppression of broader classes of flexible systems.

Keywords

Flexible systemsVibration reductionInput shaping techniqueTime-varying impulse sequenceTwo-link robotOverhead crane

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 3 , May 1995 , pp. 305 - 313
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Makino, H. et al. , “Research and Development of the SCARA Robot” Proceedings of the 4th International Conference on Producition Engineering,Tokyo(1980) pp. 885–890.Google Scholar
2.Sehitoglu, H. and Aristizabal, J. H., “Design of a Trajectory Controller for Industrial Robots Using Bang-Bang and Cycloidal Motion Profiles” Robotics: Theory and Applications, ASME Winter Annual Meeting, Anaheim, CA (12, 1986) pp. 169–175.Google Scholar
3.Turner, J. D. and Chun, H. M., “Optimal Distributed Control of a Flexible Spacecraft” Al A A J. Guidance and Control, and Dynamics 7, No. 3, 257–264 (05–06, 1984).Google Scholar
4.Farrenkopf, R. L., “Optimal Open-Loop Maneuver Profiles for Flexible Spacecraft” Al A A J. Guidance and Control 2, No. 6, 491–498 (11–12, 1979).Google Scholar
5.Swigert, C. J., “Shaped Torque Techniques” A1AA J. Guidance and Control 3, No. 5, 460–467 (09–10., 1980).CrossRefGoogle Scholar
6.Bhat, S. P. and Miu, D. K., “Precise Point-to-Point Positioning Control of Flexible Structures” ASME J. Dynamic Systems, Measurement, and Control 112, 667–674 (12, 1990).CrossRefGoogle Scholar
7.Singh, G., Kabamba, P. T. and McClamroch, N.H., “Planar, Time-Optimal, Rest-to-Rest Slewing Maneuvers of Flexible Spacecraft” Al A A J. Guidance and Control 1–2, No. 1, 71–78 (01.–02., 1989).Google Scholar
8.Jayasuriya, S. and Choura, S., “On the Finite Settling Time and Residual Vibration Control of Flexible Structures” J. Sound and Vibration 148, No. 1, 117–136 (1991).CrossRefGoogle Scholar
9.Önsay, T. and Akay, A., “Vibration Reduction of Flexible Arm by Time-Optimal Open-Loop Control” J. Sound and Vibration 147, No. 2, 283–300 (1991).CrossRefGoogle Scholar
10.Meckl, P. H., “Control of Vibration in Mechanical Systems Using Shaped Reference Inputs” PhD Thesis (Department of Mechanical Engineering, MIT, 1988).Google Scholar
11.Aspinwall, D. M., “Acceleration Profiles for Minimizing Residual Response” ASME J. Dynamic Systems, Measurement, and Control 102, No. 1, 3–6 (03, 1980).CrossRefGoogle Scholar
12.Smith, O. J. M., Feedback Control Systems (McGraw-Hill Book Company, Inc., New York, 1958) pp. 331–345.Google Scholar
13.Singer, Neil C., “Residual Vibration Reduction in Computer Controlled Machines” PhD Thesis (Department of Mechanical Engineering, MIT, 1989).Google Scholar
14.Singer, N. C. and Seering, W. P., “Preshaping Command Inputs to Reduce System Vibration” ASME J. Dynamic Systems, Measurement, and Control 112, 76–82 (03, 1990).CrossRefGoogle Scholar
15.Singer, T. and Heppler, G. H., “Shaped Inputs for a Multimode System” Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Vol. 3 (05, 1993) pp. 484–489.Google Scholar
16.Magee, D. P. and Book, W. J., “Experimental Verification of Modified Command Shaping using a Flexible Manipulator” Proceedings of the First International Conference on Motion and Vibration Control,Yokohama(Sept., 1992) pp. 553–558.Google Scholar
17.Magee, D. P. and Book, W. J., “Eliminating Multiple Modes of Vibration in a Flexible Manipulator” Proceedings of the 1993 International Conference on Robotics and Automation, Vol. 2 (05, 1993) pp. 474–479.CrossRefGoogle Scholar
18.Spans, P. D. and Mouroutsos, S. G., “The Operational Matrix of Polynomial Series Transformation” Int. J. Systems Science 16, No. 9, 1173–1184 (1985).Google Scholar
19.Wang, M. L., Chang, R. Y. and Yang, S. Y., “Analysis and Optimal Control of time-varying systems via generalized orthogonal polynomials” Int. J. Control 44, No. 4, 895–910 (1986).CrossRefGoogle Scholar
20.Nagarajan, S. and Turk, A., “General Methods of Determining Stability and Critical Speeds for Elastic Mechanism Systems” Mechanism and Machine Theory 25, No. 2 (1990) pp. 209–223.CrossRefGoogle Scholar