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Technical Briefs

Performance Measure of Residual Vibration Control

[+] Author and Article Information
Chul-Goo Kang

Department of Mechanical Engineering, Konkuk University, Hwayang-dong, Gwangjin-gu, Seoul 143-701, Koreacgkang@konkuk.ac.kr

J. Dyn. Sys., Meas., Control 133(4), 044501 (Mar 31, 2011) (6 pages) doi:10.1115/1.4003377 History: Received June 26, 2010; Revised November 28, 2010; Published March 31, 2011; Online March 31, 2011

The robustness of residual vibration control, such as input shaping, has conventionally been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping at the time of the final impulse. However, in that robustness evaluation, vibration-suppressing speed due to each residual vibration control has not been considered, which is also an important aspect of residual vibration control. In this paper, a performance measure including robustness to modeling errors and the effect of vibration-suppressing speed is defined, and the validity of the performance measure is demonstrated by simulations and experimental works.

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Copyright © 2011 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Block diagram of an input shaping control system

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Figure 2

Sensitivity curves of ZV and ZVD input shapers to modeling errors in natural frequency

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Figure 3

Rigid motion of a motion base and flexible motion of a beam without residual vibration control

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Figure 4

Step response ynoIS of an underdamped second-order system, and results of ZV and ZVD input shaping controls of the case without modeling errors

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Figure 5

Robustness curves for modeling errors in natural frequency when (a) ti=t2 and (b) ti=t3

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Figure 6

Step responses of an underdamped second-order system with input shapers

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Figure 7

Performance measures of ZV, ZVD, UM-ZV, and EI shapers for modeling errors in (a) natural frequency and (b) damping ratio

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Figure 8

Experimental apparatus for suppressing residual vibrations

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Figure 9

Verification of the simulation (SIMULINK ) model of the experimental apparatus without input shaping control

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Figure 10

Robustness curves for the experimental apparatus to modeling errors in natural frequency

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