Control of Vibration in Mechanical Systems Using Shaped Reference Inputs
Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the natural frequencies in order to reduce residual vibration for fast moves. Suc...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6843 |
| _version_ | 1811086572885377024 |
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| author | Meckl, Peter Heinrich |
| author_facet | Meckl, Peter Heinrich |
| author_sort | Meckl, Peter Heinrich |
| collection | MIT |
| description | Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the natural frequencies in order to reduce residual vibration for fast moves. Such profiles are developed using a ramped sinusoid function and its harmonics, choosing coefficients to reduce spectral energy at the natural frequencies of the system. To improve robustness with respect to parameter uncertainty, spectral energy is reduced for a range of frequencies surrounding the nominal natural frequency. An additional set of versine profiles are also constructed to permit motion at constant speed for velocity-limited systems. These shaped force profiles are incorporated into a simple closed-loop system with position and velocity feedback. The force input is doubly integrated to generate a shaped position reference for the controller to follow. This control scheme is evaluated on the MIT Cartesian Robot. The shaped inputs generate motions with minimum residual vibration when actuator saturation is avoided. Feedback control compensates for the effect of friction Using only a knowledge of the natural frequencies of the system to shape the force inputs, vibration can also be attenuated in modes which vibrate in directions other than the motion direction. When moving several axes, the use of shaped inputs allows minimum residual vibration even when the natural frequencies are dynamically changing by a limited amount. |
| first_indexed | 2024-09-23T13:28:06Z |
| id | mit-1721.1/6843 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:28:06Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/68432019-04-12T08:32:29Z Control of Vibration in Mechanical Systems Using Shaped Reference Inputs Meckl, Peter Heinrich control vibration robotics Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the natural frequencies in order to reduce residual vibration for fast moves. Such profiles are developed using a ramped sinusoid function and its harmonics, choosing coefficients to reduce spectral energy at the natural frequencies of the system. To improve robustness with respect to parameter uncertainty, spectral energy is reduced for a range of frequencies surrounding the nominal natural frequency. An additional set of versine profiles are also constructed to permit motion at constant speed for velocity-limited systems. These shaped force profiles are incorporated into a simple closed-loop system with position and velocity feedback. The force input is doubly integrated to generate a shaped position reference for the controller to follow. This control scheme is evaluated on the MIT Cartesian Robot. The shaped inputs generate motions with minimum residual vibration when actuator saturation is avoided. Feedback control compensates for the effect of friction Using only a knowledge of the natural frequencies of the system to shape the force inputs, vibration can also be attenuated in modes which vibrate in directions other than the motion direction. When moving several axes, the use of shaped inputs allows minimum residual vibration even when the natural frequencies are dynamically changing by a limited amount. 2004-10-20T20:01:14Z 2004-10-20T20:01:14Z 1988-01-01 AITR-1018 http://hdl.handle.net/1721.1/6843 en_US AITR-1018 216 p. 17722871 bytes 6742398 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | control vibration robotics Meckl, Peter Heinrich Control of Vibration in Mechanical Systems Using Shaped Reference Inputs |
| title | Control of Vibration in Mechanical Systems Using Shaped Reference Inputs |
| title_full | Control of Vibration in Mechanical Systems Using Shaped Reference Inputs |
| title_fullStr | Control of Vibration in Mechanical Systems Using Shaped Reference Inputs |
| title_full_unstemmed | Control of Vibration in Mechanical Systems Using Shaped Reference Inputs |
| title_short | Control of Vibration in Mechanical Systems Using Shaped Reference Inputs |
| title_sort | control of vibration in mechanical systems using shaped reference inputs |
| topic | control vibration robotics |
| url | http://hdl.handle.net/1721.1/6843 |
| work_keys_str_mv | AT mecklpeterheinrich controlofvibrationinmechanicalsystemsusingshapedreferenceinputs |