Vibration Reduction Using Multi-Hump Input Shapers

[+] Author and Article Information
W. E. Singhose, T. D. Tuttle

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

L. J. Porter

Department of Nuclear Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

N. C. Singer

Convolve Inc., New York, NY

J. Dyn. Sys., Meas., Control 119(2), 320-326 (Jun 01, 1997) (7 pages) doi:10.1115/1.2801257 History: Received September 27, 1995; Online December 03, 2007


Input shaping is a method for reducing residual vibrations in computer-controlled machines. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with a desired system command to produce a shaped input. The shaped input then becomes the command to the system. Requiring the vibration reduction to be robust to modeling errors and system nonlinearities is critical to the success of the shaping process on any real system, Input shapers can be made very insensitive to parameter uncertainty; however, increasing robustness usually increases system delays. A design process is presented that generates input shapers with insensitivity-to-time-delay ratios that are much larger than traditionally designed input shapers. The advantages of the new shapers are demonstrated with computer simulations and their performance is verified with experimental results from the MIT Middeck Active Control Experiment, which was performed on board the Space Shuttle Endeavor.

Copyright © 1997 by The American Society of Mechanical Engineers
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