Abstract
The residual vibration of flexible systems can be reduced by shaping the reference command with notch filters, low-pass filters, and input shapers. Since the introduction of robust input shaping, there has been substantial evidence that input shaping is better than both notch and low-pass filtering for suppressing vibration in mechanical systems. Much of this evidence is empirical comparisons between traditional filters and robust input shapers. Given the large variety of filters and shapers and the large number of design strategies and parameters, there is still some uncertainty as to which approach is better. This paper seeks to end this debate by proving that notch and low-pass filters are never better than input shapers for suppressing mechanical vibration. This paper expands on previous efforts by presenting a proof showing that input shapers suppress vibration more quickly than notch or low-pass filters. The problem of suppressing multi-mode vibration is also examined. Experimental results from a portable bridge crane verify key theoretical results.
Original language | English |
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Article number | 5674118 |
Pages (from-to) | 1410-1420 |
Number of pages | 11 |
Journal | IEEE Transactions on Control Systems Technology |
Volume | 19 |
Issue number | 6 |
DOIs | |
State | Published - Nov 2011 |
Externally published | Yes |
Funding
Manuscript received January 20, 2010; revised October 08, 2010; accepted October 10, 2010. Manuscript received in final form November 10, 2010. Date of publication December 23, 2010; date of current version September 16, 2011. This work was supported in part by Siemens Energy and Automation, Boeing Research and Technology, and the Japan Society for the Promotion of Science (JSPS). Recommended by Associate Editor R. Moheimani.
Funders | Funder number |
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Siemens Energy | |
Japan Society for the Promotion of Science |
Keywords
- Command generation
- command shaping
- digital filters
- input shaping
- vibration control