Damping of Oscillations of a Rotary Pendulum System
This paper describes an innovative design based on the spectral approach of a novel shaper that eliminates frequency components that induce unwanted residual oscillations in various flexible mechanical systems, such as tower cranes or chain carousels, which are vital to many manufacturing and materi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/21/11946 |
| _version_ | 1797632151352508416 |
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| author | Adam Gavula Peter Hubinský Andrej Babinec |
| author_facet | Adam Gavula Peter Hubinský Andrej Babinec |
| author_sort | Adam Gavula |
| collection | DOAJ |
| description | This paper describes an innovative design based on the spectral approach of a novel shaper that eliminates frequency components that induce unwanted residual oscillations in various flexible mechanical systems, such as tower cranes or chain carousels, which are vital to many manufacturing and material-handling processes. However, their physical structure leads to flexible effects that limit their usefulness. Apart from the circular motion problem, control is provided by a single actuator, which makes it a so-called underactuated system. The input signal needs to be modified so that the spectral components from several interconnected degrees of freedom are considered together during shaper design, which increases the complexity of this task since one of its components induces nonlinear behavior. This means that traditional shaping techniques, based on linear theory, fail to provide good performance over the whole input range. The underdamped dynamics of the model and the effect of nonlinearities on the spectrum of the final signal are examined; the proposed method for application as a command shaping control technique is applied; and its effectiveness is analyzed by simulation and real-time implementation. The theoretical results verified on an experimental crane system confirm the expected oscillation phenomenon and show that the designed nonlinear shaper can reduce the payload swing significantly. |
| first_indexed | 2024-03-11T11:33:49Z |
| format | Article |
| id | doaj.art-a6441ec4414043aca4a4468ed6b05e27 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T11:33:49Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-a6441ec4414043aca4a4468ed6b05e272023-11-10T14:59:15ZengMDPI AGApplied Sciences2076-34172023-11-0113211194610.3390/app132111946Damping of Oscillations of a Rotary Pendulum SystemAdam Gavula0Peter Hubinský1Andrej Babinec2Faculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology in Bratislava, Ilkovicova 3, 81219 Bratislava, SlovakiaFaculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology in Bratislava, Ilkovicova 3, 81219 Bratislava, SlovakiaFaculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology in Bratislava, Ilkovicova 3, 81219 Bratislava, SlovakiaThis paper describes an innovative design based on the spectral approach of a novel shaper that eliminates frequency components that induce unwanted residual oscillations in various flexible mechanical systems, such as tower cranes or chain carousels, which are vital to many manufacturing and material-handling processes. However, their physical structure leads to flexible effects that limit their usefulness. Apart from the circular motion problem, control is provided by a single actuator, which makes it a so-called underactuated system. The input signal needs to be modified so that the spectral components from several interconnected degrees of freedom are considered together during shaper design, which increases the complexity of this task since one of its components induces nonlinear behavior. This means that traditional shaping techniques, based on linear theory, fail to provide good performance over the whole input range. The underdamped dynamics of the model and the effect of nonlinearities on the spectrum of the final signal are examined; the proposed method for application as a command shaping control technique is applied; and its effectiveness is analyzed by simulation and real-time implementation. The theoretical results verified on an experimental crane system confirm the expected oscillation phenomenon and show that the designed nonlinear shaper can reduce the payload swing significantly.https://www.mdpi.com/2076-3417/13/21/11946input shapingFIR filter designswing reductionmotion controlresidual vibration controlspectral analysis |
| spellingShingle | Adam Gavula Peter Hubinský Andrej Babinec Damping of Oscillations of a Rotary Pendulum System Applied Sciences input shaping FIR filter design swing reduction motion control residual vibration control spectral analysis |
| title | Damping of Oscillations of a Rotary Pendulum System |
| title_full | Damping of Oscillations of a Rotary Pendulum System |
| title_fullStr | Damping of Oscillations of a Rotary Pendulum System |
| title_full_unstemmed | Damping of Oscillations of a Rotary Pendulum System |
| title_short | Damping of Oscillations of a Rotary Pendulum System |
| title_sort | damping of oscillations of a rotary pendulum system |
| topic | input shaping FIR filter design swing reduction motion control residual vibration control spectral analysis |
| url | https://www.mdpi.com/2076-3417/13/21/11946 |
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