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Vibration reduction in flexible systems using a time-varying impulse sequence

Published online by Cambridge University Press:  09 March 2009

Jung-Keun Cho  and
Youn-Sik Park
Jung-Keun Cho
Affiliation:
Center for Noise and Vibration Control, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Science Town, Taejeon 305–701 (Korea)
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Summary

An input shaping technique using a time-varying impulse sequence is presented to reduce the motion-induced vibration of flexible systems in a feedforward way.

The decoupled modal responses for a general linear time-varying system are firstly approximated. Upon this approximation, the time-varying impulse sequences to suppress the vibrational modes are found. The reference inputs to the systems are shaped by convolving with the time-varying impulse sequence to suppress the multimode vibrations. This technique can be also applied to suppress the vibration of nonlinear time-varying systems.

The performance of this method is demonstrated with two practical examples: a moving overhead crane and a two-link robot manipulator. Consequently, this study provides an input shaping technique applicable to the vibration suppression of broader classes of flexible systems.

Keywords

Flexible systemsVibration reductionInput shaping techniqueTime-varying impulse sequenceTwo-link robotOverhead crane

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 3 , May 1995 , pp. 305 - 313
Copyright
Copyright © Cambridge University Press 1995

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