Comparison of Filtering Methods for Reducing Residual Vibration

Singer, Neil C.; Singhose, William; Seering, Warren P.

doi:10.1016/s0947-3580(99)70155-x

Cited by 92 publications

(43 citation statements)

References 16 publications

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“…It is obvious that if amplitudes of all the pulses are nonnegative, then respecting conditions (5), it must belong to the interval 0 ≤ Ai ≤ 1. With respect to those limitations, by solving the equations (2) we get for min(t n ) the solution describing positive ZV shaper whose design is often stated in matrix form [3], [5], [6], [7]:…”

Section: Proposal Of An Input Shaper In the Time Domainmentioning

confidence: 99%

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Using wireless acceleration sensor for system identification

Sarafin¹,

Micek²,

Milanova³

2016

Annals of Computer Science and Information Systems

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Abstract-In practical applications, we often encounter problems controlling weakly damped resonant systems. These are devices which often include inertia masses and flexible connecting elements. These devices are mainly gantry cranes, mechatronic systems, elevators, filling lines for the food industry and many others. One approach to improving the transition process in the control of these weakly damped systems is a method of shaping control signals. This method starts to be used in the control of systems with flexible elements in the 90s of the twentieth century. Over the next twenty years, we meet with successful applications, especially in the control of positioning systems. When we are talking about the theoretical description of input shaping today, we meet mainly with two basic approaches. The first is based on the selection of a proper sequence of pulses in the time domain. The second is based on the design of such discrete shaper, which compensates the effect of the complex poles of a controlled system causing residual vibration. Irrespective of the shaper design method, we must know either the systems oscillations and controlled system damping, or the location of the complex poles causing the vibration.

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Section: Proposal Of An Input Shaper In the Time Domainmentioning

confidence: 99%

“…Appropriately chosen shaper suppress residual vibrations of the system. Note that the suppression ratio of residual vibrations is often expressed as the ratio of the amplitude of the output signal with the shapers input signal to the amplitude of the output signal without the shaper [4], [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Using wireless acceleration sensor for system identification

Sarafin¹,

Micek²,

Milanova³

2016

Annals of Computer Science and Information Systems

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“…[13][14][15]. Comparisons between Input Shaping and conventional filtering methods have shown Input Shaping to be more successful in some studies, and conventional filtering to be more successful in other studies, as a result of improved filter tuning 16,17 . The current paper builds on the "dipole" disturbance rejection filter (DRF), which explicitly employs the disturbance vibration frequency into a filter embedded in the control loop.…”

Section: Figure 1 Naval Postgraduate School's Three-axis Simulator (mentioning

confidence: 99%

Disturbance Filtering and Identification on the Naval Postgraduate School 3-Axis Spacecraft Simulator

Lau

Joshi

Agrawal

et al. 2005

AIAA Guidance, Navigation, and Control Conference and Exhibit

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This paper investigates spacecraft disturbance rejection filtering for both persistent and decaying disturbances. The current study both validates the previously developed "dipole" disturbance rejection filter on a realistic non-linear spacecraft model, and extends the results to a new class of decaying disturbances. Although not designed specifically for decaying disturbances, prior investigations have demonstrated that the traditional "dipole" disturbance rejection filter attenuates both persistent periodic disturbances and decaying disturbances. Here we introduce a new filter which we call the decaying disturbance rejection filter, which has greater attenuation than the traditional filter for decaying disturbances. The new filter is also based on the internal model principle like the traditional filter. Also, it is shown that both the traditional and the new filter are not robust to frequency uncertainty. As a result, new closed-loop system identification methods are introduced to experimentally identify the disturbance frequency to be used within the filter design for both filter types.

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“…However, if an approximation of the system's natural frequency and damping parameters is available, ltering methods such as input shaping can help prevent the excitation of natural modes and reduce the vibrations. Advantages of input shaping methods over conventional lters, which are designed in frequency domain, are shown in [11].…”

Section: Introductionmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

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Comparison of Filtering Methods for Reducing Residual Vibration

Cited by 92 publications

References 16 publications

Using wireless acceleration sensor for system identification

Using wireless acceleration sensor for system identification

Disturbance Filtering and Identification on the Naval Postgraduate School 3-Axis Spacecraft Simulator

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

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