Input shaping for vibration-free positioning of flexible systems (original) (raw)

A Study of Input Shaping Method on Linear Stage System to Suppress the Residual Vibration

Precision positioning machines are required to run with higher speed and higher accuracy. The high running speed can cause strong excitations on the machine structure, which results in severe structure vibration and long settling time. This paper concerns about the implementation of input shaping method to control the flexible systems. It will be driven by the specific input command that performs point to point movement to eliminate the residual vibration. The shaped command profile is designed for analysis of lightly damped system and adaptive computation of the input shaper coefficients. The experimental setup is a flexible cantilever beam which connected to linear stage system. It well simulates lightly damped systems that will generate the long vibration after the desired position has reached. An accelerometer used to measure dynamic acceleration resulting from the motion of the cantilever beam. It takes into account only both analyzing systems and shaped command profile need to suppress the residual vibration. The results confirmed the appropriateness of the input shaping algorithm and the proposed techniques are illustrated by experiments.

MODELING AN ANTI-SWING CONTROLLER OF AN OVERHEAD CRANE BY USING MATLAB SIMULINK

Al Mukhtar Journal for Engineering Research, 2022

An overhead crane is one of the most common types of loading and unloading equipment. It can be used in civil engineering, metallurgical manufacturing, river, and seaports, and so on. It allows for cargo ascent and descent as well as distance transfer employing lifting and traveling equipment. The equation of motions of the system (crane mechanisms) in this paper has been derived based on Newton's laws. The crane overhead consists of a pendulum and a moving cart. Such a system is unstable without control, and it is nonlinear. A linearizing dynamic feedback procedure is deduced from its general implicit differential model. In crane overhead systems, the suspended load (by cable) is subject to swing caused by improper control input, which may even cause accidents. The Crane controller system is able to move the trolley fast enough and suppress the payload swing at the final position. This is so-called anti-swing control. The aim of this paper is to design a control system for the overhead system that can smoothly position the trolley while minimizing the swing of the load at the destination by using MATLAB Simulink to meet some of the specification requirements.

Practical Sway Motion Control for Double Pendulum-Type Overhead Crane System

International Journal on Smart Sensing and Intelligent Systems, 2012

The sway motion of crane can be successfully suppressed by properly shaping the reference command. Input shaping is a one type of feed-forward shaping method that is based on linear superposition. In this paper, we present the impact of double pendulum type overhead crane (DPTOC) system on the effectiveness of input shaping. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The input shapers with the derivative effects are designed based on the properties of the system. The response DPTOC system to shaped input is experimentally verified in time and frequency domain. The performance of the input shaper is examined in terms of sway angle reduction and time response specification. Experimental results demonstrate the effectiveness of the proposed approach in reducing the sway motion of crane system.