Input shaping and command shaping are important techniques in reducing residual vibrations in rest-to-rest maneuvers. Jerks in these shapers can reduce the life time for the crane motors and electronic boards. In this work, a totally smooth command shaper with an independent adjustable maneuvering time is introduced to eliminate residual vibration in multimode system. The proposed technique is solved analytically and simulated numerically through several examples. Furthermore, the proposed technique requires only the resonant frequency of the system to produce a control profile. The results through several examples show a great controller performance. It is important to mention that the proposed controller can be applied on any discretized multi-degree-of-freedom system.
- Dynamic Systems and Control Division
A Multi-Mode Smooth Command Shaper With an Adjustable Maneuver Time
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Alhazza, KA, & Masoud, ZN. "A Multi-Mode Smooth Command Shaper With an Adjustable Maneuver Time." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T46A003. ASME. https://doi.org/10.1115/DSCC2015-9700
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