Concurrent Design of Vibration Absorbers and Input Shapers

[+] Author and Article Information
Joel Fortgang, William Singhose

Woodruff School of Mechanical Engineering,  Georgia Institute of Technology, Atlanta, GA 30332

J. Dyn. Sys., Meas., Control 127(3), 329-335 (Aug 19, 2004) (7 pages) doi:10.1115/1.1979510 History: Received December 05, 2003; Revised August 19, 2004

Systems with flexible dynamics often vibrate due to external disturbances, as well as from changes in the reference command. Feedback control is an obvious choice to deal with these vibrations, but in many cases, it is insufficient or difficult to implement. A technique that does not rely on high performance feedback control is presented here. It utilizes a combination of vibration absorbers and input shapers. Vibration absorbers have been used extensively to reduce vibration from sinusoidal disturbances, but they can also be implemented to reduce the response from transient functions. Input shaping has proven beneficial for reducing vibration that is caused by changes in the reference command. However, input shaping does not deal with vibration excited by external disturbances. In this paper, vibration absorbers and input shapers are designed sequentially and concurrently to reduce vibration from both the reference command and from external disturbances. The usefulness of this approach is demonstrated through computer simulations and experimental results.

Copyright © 2005 by American Society of Mechanical Engineers
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Figure 1

System response to step disturbances

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Figure 2

Input shaping convolution

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Figure 3

Superposition to yield zero vibration

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Figure 4

Control schematic with input shaper

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Figure 5

Vibration absorber parameters

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Figure 6

Experimental setup

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Figure 7

Experimental step response

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Figure 8

Sensitivity curves for ZV, ZVD, and EI input shapers

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Figure 9

Simulated response to a variety of conditions

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Figure 10

Simulated response using concurrent solution

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Figure 11

Step command response

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Figure 12

Step disturbance response

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Figure 13

Sensitivity of concurrent shaper to frequency modeling

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Figure 14

Experimental results for concurrent approach




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