Specified-Deflection Command Shapers for Second-Order Position Input Systems

[+] Author and Article Information
Michael J. Robertson

Weapons and Systems Engineering Department, United States Naval Academy, Annapolis, MD 21402

William E. Singhose

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

J. Dyn. Sys., Meas., Control 129(6), 856-859 (Jun 13, 2007) (4 pages) doi:10.1115/1.2789476 History: Received October 13, 2005; Revised June 13, 2007

This paper documents new command shapers designed to both eliminate the residual vibration and reduce the transient deflection of a flexible system. Equations are derived to predict both the residual vibration and the transient deflection for a mass-spring-damper system with position input, or equivalently, a mass under PD control. The solution of equations containing constraints on both the transient deflection and the residual vibration leads to the creation of specified-deflection, zero-vibration command shapers. These specified-deflection shapers limit the transient deflection to a predetermined ratio of the base line deflection resulting from an arbitrary reference command. Computer simulations and experiments on a bridge crane verify the efficacy of the new command shapers.

Copyright © 2007 by American Society of Mechanical Engineers
Topics: Vibration , Deflection
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Figure 1

Sensitivity plot

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Figure 3

SD-ZV command duration

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Figure 4

SD-ZV sensitivity curves

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Figure 5

Position response of undamped system

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Figure 6

Deflection during the first portion of the move

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Figure 7

Bridge crane hook deflection response

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Figure 8

Bridge crane hook deflection response during the first portion of the move

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Figure 2

Position input system




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