Technical Brief

Negative Input Shaped Commands for Unequal Acceleration and Braking Delays of Actuators

[+] Author and Article Information
Yoon-Gyung Sung

Department of Mechanical Engineering,
Chosun University,
Gwangju 61452, South Korea
e-mail: sungyg@chosun.ac.kr

Wan-Shik Jang

Department of Mechanical Engineering,
Chosun University,
Gwangju 61452, South Korea
e-mail: wsjang@chosun.ac.kr

Jae-Yeol Kim

Department of Mechanical System Engineering,
Chosun University,
Gwangju 61452, South Korea
e-mail: jykim@chosun.ac.kr

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 8, 2017; final manuscript received February 5, 2018; published online March 30, 2018. Assoc. Editor: Soo Jeon.

J. Dyn. Sys., Meas., Control 140(9), 094501 (Mar 30, 2018) (6 pages) Paper No: DS-17-1402; doi: 10.1115/1.4039367 History: Received August 08, 2017; Revised February 05, 2018

A negative input shaped command is presented for flexible systems to reduce the residual oscillation under unequal acceleration and braking delays of actuators that are common issues in industrial applications. Against this nonlinearity, a compensated unit magnitude zero vibration (UMZV) shaper is analytically developed with a phasor vector diagram and a ramp-step function to approximate the dynamic response of the unequal acceleration and braking delays of actuators. A closed-form solution is presented with a benchmark system without sacrificing the generality and simplicity for industrial applications. The robustness and control performance of the exact solution are numerically evaluated and compared with those of an existing negative input shaper in terms of the switch-on time, command interference, and effects of the shaper parameters. The proposed negative input shaped commands are experimentally validated with a mini-bridge crane.

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Fig. 1

Actuator effects to an UMZV shaper

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Fig. 2

Equivalent transformation: (a) original command process and (b) equivalent command process

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Fig. 4

Segmentation of a start command: (a) range division and (b) segmented profile

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Fig. 5

Vector diagram of an UMZVc shaper

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Fig. 6

Command completeness effects to tp

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Fig. 7

Command completeness effects to Lm

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Fig. 8

Maximum residual deflection of UMZVc shaper to τa andτd

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Fig. 9

Maximum residual oscillation of UMZVc shaper to τa andtp

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Fig. 10

Robustness of UMZVc shaper to τa/τam and L/Lm

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Fig. 11

Mini-bridge crane

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Fig. 12

Hardware configuration

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Fig. 13

Experimental command accuracy

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Fig. 14

Experimental deflection responses

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Fig. 15

Robustness comparison to L/Lm

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Fig. 16

Robustness to τa/τam



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