0
Research Papers

Command Shaping for Flexible Systems Subject to Constant Acceleration Limits

[+] Author and Article Information
Jon Danielson, Jason Lawrence

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

William Singhose

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332bill.singhose@me.gatech.edu

For a ZVD shaper, the derivative of the sensitivity curve at the designed frequency is zero (4) EI, SI, and other shapers have there own unique constraints (11,40).

J. Dyn. Sys., Meas., Control 130(5), 051011 (Aug 04, 2008) (8 pages) doi:10.1115/1.2963045 History: Received January 25, 2007; Revised March 25, 2008; Published August 04, 2008

Input shaping is an effective means of eliminating vibration in many types of flexible systems. This paper discusses how input shaper performance is affected by a fixed acceleration limit. This type of limit is a common occurrence in many mechanical drive systems because it corresponds to a constant force or torque input. It is shown that some input shapers are not affected by an acceleration limit under certain conditions. A test criterion is developed to determine what types of input shapers are negatively affected, and a method is proposed to compensate for the detrimental effects of the constant acceleration limit. Experimental results from an industrial crane support the main theoretical results.

Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Unshaped and shaped-step commands

Grahic Jump Location
Figure 2

Payload response to unshaped and shaped commands

Grahic Jump Location
Figure 3

Zero-vibration shaped step

Grahic Jump Location
Figure 4

Effect of acceleration limiting

Grahic Jump Location
Figure 5

Zero-vibration response to two impulses

Grahic Jump Location
Figure 6

Sensitivity curves for ZV, ZVD, and EI shapers

Grahic Jump Location
Figure 7

Sensitivity curve for SI shaper

Grahic Jump Location
Figure 8

Nonlinear system is reduced to a linear system

Grahic Jump Location
Figure 9

Command decomposition

Grahic Jump Location
Figure 10

Sensitivity curve for ZV shaper

Grahic Jump Location
Figure 11

Amplitude of residual vibration as a function of α for various shapers

Grahic Jump Location
Figure 12

Acceleration for three-step velocity command

Grahic Jump Location
Figure 13

Sensitivity curves for ZVD and ALZVD input shapers

Grahic Jump Location
Figure 14

Sensitivity curves for EI and ALEI input shapers

Grahic Jump Location
Figure 15

Sensitivity curves for SI and ALSI input shapers

Grahic Jump Location
Figure 16

An example of a shaped and an unshaped multistep command

Grahic Jump Location
Figure 17

Shaper sensitivity to damping ratio

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In