On Frequency-Domain and Time-Domain Input Shaping for Multi-Mode Flexible Structures

[+] Author and Article Information
Lucy Y. Pao, Craig F. Cutforth

Electrical and Computer Engineering Department, University of Colorado, Boulder, CO 80309

J. Dyn. Sys., Meas., Control 125(3), 494-497 (Sep 18, 2003) (4 pages) doi:10.1115/1.1591808 History: Received February 15, 2001; Revised September 09, 2002; Online September 18, 2003
Copyright © 2003 by ASME
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Singer,  N., and Seering,  W., 1990, “Preshaping Command Inputs to Reduce System Vibration,” ASME J. Dyn. Syst., Meas., Control, 112(1), 76–82.
Hyde, J. M., and Seering, W. P., 1991, “Using Input Command Pre-Shaping to Suppress Multiple Mode Vibration,” Proc. IEEE Robotics and Automation Conf., Sacramento, CA, pp. 2604–2609.
Jones,  S. D., and Ulsoy,  A. G., 1999, “An Approach to Control Input Shaping With Application to Coordinate Measuring Machines,” ASME J. Dyn. Syst., Meas., Control, 121(2), 242–247.
Tuttle, T. D., and Seering, W. P., 1994, “A Zero-Placement Technique for Designing Shaped Inputs to Suppress Multiple-mode Vibration,” Proc. American Control Conf., Baltimore, MD, pp. 2533–2537.


Grahic Jump Location
The minimum length for undamped two-mode FD shapers compared with the length of TD shapers.
Grahic Jump Location
A contour plot representing the length of a TD shaper subtracted from the length of a FD shaper (both for undamped systems). The dark region represents where the TD shaper is shorter: the light region indicates where the FD shaper is shorter. The contour lines are fractions of the period of the first mode, tA.




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