Technical Briefs

Minimizing Residual Vibration in Short-Maneuver Pulse-Width Control

[+] Author and Article Information
Keith W. Buffinton

Mechanical Engineering, Bucknell University, Lewisburg, PA 17837keith.buffinton@bucknell.edu

Katie L. Hoffman

Microrobotics Laboratory, Harvard University, Cambridge, MA 02138khoffman@fas.harvard.edu

Martin C. Berg

Mechanical Engineering, University of Washington, Seattle, WA 98195berg@u.washington.edu

J. Dyn. Sys., Meas., Control 132(2), 024505 (Feb 09, 2010) (5 pages) doi:10.1115/1.4000820 History: Received January 27, 2009; Revised November 29, 2009; Published February 09, 2010; Online February 09, 2010

Two problems encountered in precision manufacturing are friction and flexibility. With regard to friction, pulse-width control has been shown to be exceptionally effective for rigid systems; however, when used to control flexible systems residual vibrations often result, limiting speed and precision. In previous work, a pulse-width controller was developed that uses two pulses in sequence such that the second pulse minimizes vibration induced by the first. This controller used a brute-force numerical process and obtained solutions similar to optimal zero vibration techniques. Additionally, trends in numerical solutions were identified that approached limiting values for short pulse durations. In the present paper, a theoretical foundation for these limiting values is derived. This derivation shows that for short maneuvers approximate analytical expressions for pulse-widths and their application times are easily obtained. These analytical expressions are used as the basis of a pulse-width controller that is shown to effectively minimize residual vibration in simulations and experiments.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 2

Regions of motion for minimum-residual-vibration PWC

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Figure 3

Piecewise-linear pulse-width control

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Figure 4

Minimum vibration pulse-width control

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Figure 5

Minimum-residual-vibration PWC with m2 overestimated 20%

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Figure 6

Experimental system

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Figure 7

Traditional PWC of experimental system

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Figure 8

Minimum-residual-vibration PWC of experimental system




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