Journal Article10.1115/1.2802494
Input Shaping Design for Multi-Input Flexible Systems
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TL;DR: In this paper, a convex optimization synthesis technique for finite impulse response filters (FIR filters) is proposed to find the minimum length and the minimum number of nonzero impulses of the FIR filter that forces the system to track the reference command without any residual vibration, while satisfying additional performance and control constraints.
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Abstract: This paper investigates a new design technique of input shaping fiftcrs for multi-input flexible systems using convex optimization synthesis techniques for finite impulse response filters (FIR filters). The objective of the input shaping filter design is to find the minimum length and the minimum number of nonzero impulses of the FIR filter that forces the system to track the reference command without any residual vibration, while satisfying additional performance and control constraints. This multi-objective optimization is solved using a two-step algorithm that sequentially solves two quasi-convex optimization problems. Compared with previously published nonlinear optimization approaches, this new approach does not require a priori knowledge of the forms of input shaping filters and enables much greater flexibility for including additional performance and robustness objectives. Furthermore, this convex-based approach can be applied to multi-input systems. The multiple input shaping filter has been experimentally verified on the Stanford University Two-Link Flexible Manipulator.
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Citations
Command shaping for flexible systems: A review of the first 50 years
TL;DR: A review of command-shaping research since it was first proposed in the late 1950s can be found in this paper, where the important milestones of the research advancements, as well as application examples are used to illustrate the developments in this important research field.
444
Tutorial on Input Shaping/Time Delay Control of Maneuvering Flexible Structures
Tarunraj Singh,William Singhose +1 more
- 01 Jan 2002
TL;DR: In this paper, the authors present techniques to shape the input to the system so as to minimize the residual vibration of the structure, which is the desired objective in a variety of applications.
Radial-motion assisted command shapers for nonlinear tower crane rotational slewing
TL;DR: In this paper, the effect of nonlinear crane dynamics on the performance of input shaping is investigated, and novel command-shaping algorithms are then proposed for reducing vibration during the nonlinear slewing motions of tower cranes.
74
Patent
Information storing device and method for controlling same to record/reproduce information by selecting one of working modes
Yuichi Koizumi,Hideaki Amano,Katsuhiro Tsuneta,Koji Kodama +3 more
- 27 Mar 2002
TL;DR: In this paper, an information storing device and an information processing device having a memory for registering a plurality of working modes at recording/reproduction and a switching circuit for selecting one of the working modes, which select the optimum working mode automatically or by an instruction of an operator according to power supply capacity of a device of higher rank.
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References
Preshaping Command Inputs to Reduce System Vibration
Neil C. Singer,Warren P. Seering +1 more
TL;DR: In this paper, a method for generating shaped command inputs which significantly reduce or eliminate endpoint vibration is presented for the Space Shuttle Remote Manipulator System simulator (DRS), where the desired system inputs are altered so that the system completes the requested move without residual vibration.
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Time-Optimal Negative Input Shapers
TL;DR: In this paper, negative input shaping is used to reduce residual vibration in computer controlled machines by convolving a sequence of impulses with a desired system command and the resulting shaped input is then used to drive the system.
250
Slewing Flexible Spacecraft with Deflection-Limiting Input shaping
TL;DR: In this paper, a control scheme for slewing a feasible spacecraft with both suppression of dee ection during the slew and elimination of residual oscillations is described, which minimizes the maneuver time subject to constraints on residual vibration magnitude, sensitivity to modeling errors, rest-to-rest slew distance, and the transient dee ection amplitude.
172
A zero-placement technique for designing shaped inputs to suppress multiple-mode vibration
T.D. Tuttle,Warren P. Seering +1 more
- 29 Jun 1994
TL;DR: In this article, a new approach for deriving input shapers using zero-placement in the discrete domain is proposed. But this approach is difficult to understand and difficult to reason about.
172
Input Shaping With Negative Sequences for Reducing Vibrations in Flexible Structures
B. Whitney Rappole,Neil C. Singer,Warren P. Seering +2 more
- 02 Jun 1993
TL;DR: In this paper, the authors present five different methods for calculating input shaping sequences with relaxed constraints, including an analytic method and a method of optimizing using non-linear programming, and demonstrate the various techniques on a one-link flexible beam.
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