Optimal FIR input shaper designs for motion control with zero residual vibration

Matthew O. T. Cole, Theeraphong Wongratanaphisan

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

This paper considers the design of input shaping filters used in motion control of vibratory systems. The filters preshape a command or actuation signal in order to negate the effect of vibratory modes. A class of finite impulse response filter satisfying a set of orthogonality conditions that ensure zero residual vibration is introduced. Filter solutions having minimum quadratic gain, both with and without the inclusion of non-negativity (peak gain) constraints, are presented. Unlike impulse-based shapers, the filters have impulse responses with no singularities and therefore automatically remove discontinuities from an input signal. Minimum duration impulse response solutions are also presented. These contain singularities but may also have smooth components. Discrete-time designs can be obtained numerically from system modal parameters, accounting for all modes simultaneously so that convolving single-mode solutions, which leads to suboptimality of the final design, is not required. Selected designs are demonstrated experimentally on a flexible link planar manipulator.
Original languageEnglish
Article number021008
JournalJournal of Dynamic Systems, Measurement and Control: Transactions of the ASME
Volume133
Issue number2
DOIs
Publication statusPublished - 1 Jan 2011

Fingerprint

shapers
Motion control
filters
impulses
vibration
Impulse response
FIR filters
orthogonality
commands
actuation
Manipulators
manipulators
discontinuity
inclusions

Cite this

Optimal FIR input shaper designs for motion control with zero residual vibration. / Cole, Matthew O. T.; Wongratanaphisan, Theeraphong.

In: Journal of Dynamic Systems, Measurement and Control: Transactions of the ASME, Vol. 133, No. 2, 021008 , 01.01.2011.

Research output: Contribution to journalArticle

@article{812fa75abb5349f0ac53cbbd37609af3,
title = "Optimal FIR input shaper designs for motion control with zero residual vibration",
abstract = "This paper considers the design of input shaping filters used in motion control of vibratory systems. The filters preshape a command or actuation signal in order to negate the effect of vibratory modes. A class of finite impulse response filter satisfying a set of orthogonality conditions that ensure zero residual vibration is introduced. Filter solutions having minimum quadratic gain, both with and without the inclusion of non-negativity (peak gain) constraints, are presented. Unlike impulse-based shapers, the filters have impulse responses with no singularities and therefore automatically remove discontinuities from an input signal. Minimum duration impulse response solutions are also presented. These contain singularities but may also have smooth components. Discrete-time designs can be obtained numerically from system modal parameters, accounting for all modes simultaneously so that convolving single-mode solutions, which leads to suboptimality of the final design, is not required. Selected designs are demonstrated experimentally on a flexible link planar manipulator.",
author = "Cole, {Matthew O. T.} and Theeraphong Wongratanaphisan",
year = "2011",
month = "1",
day = "1",
doi = "10.1115/1.4003097",
language = "English",
volume = "133",
journal = "Journal of Dynamic Systems, Measurement and Control: Transactions of the ASME",
issn = "0022-0434",
publisher = "American Society of Mechanical Engineers (ASME)",
number = "2",

}

TY - JOUR

T1 - Optimal FIR input shaper designs for motion control with zero residual vibration

AU - Cole, Matthew O. T.

AU - Wongratanaphisan, Theeraphong

PY - 2011/1/1

Y1 - 2011/1/1

N2 - This paper considers the design of input shaping filters used in motion control of vibratory systems. The filters preshape a command or actuation signal in order to negate the effect of vibratory modes. A class of finite impulse response filter satisfying a set of orthogonality conditions that ensure zero residual vibration is introduced. Filter solutions having minimum quadratic gain, both with and without the inclusion of non-negativity (peak gain) constraints, are presented. Unlike impulse-based shapers, the filters have impulse responses with no singularities and therefore automatically remove discontinuities from an input signal. Minimum duration impulse response solutions are also presented. These contain singularities but may also have smooth components. Discrete-time designs can be obtained numerically from system modal parameters, accounting for all modes simultaneously so that convolving single-mode solutions, which leads to suboptimality of the final design, is not required. Selected designs are demonstrated experimentally on a flexible link planar manipulator.

AB - This paper considers the design of input shaping filters used in motion control of vibratory systems. The filters preshape a command or actuation signal in order to negate the effect of vibratory modes. A class of finite impulse response filter satisfying a set of orthogonality conditions that ensure zero residual vibration is introduced. Filter solutions having minimum quadratic gain, both with and without the inclusion of non-negativity (peak gain) constraints, are presented. Unlike impulse-based shapers, the filters have impulse responses with no singularities and therefore automatically remove discontinuities from an input signal. Minimum duration impulse response solutions are also presented. These contain singularities but may also have smooth components. Discrete-time designs can be obtained numerically from system modal parameters, accounting for all modes simultaneously so that convolving single-mode solutions, which leads to suboptimality of the final design, is not required. Selected designs are demonstrated experimentally on a flexible link planar manipulator.

UR - http://www.scopus.com/inward/record.url?scp=79952605627&partnerID=8YFLogxK

UR - http://dx.doi.org/10.1115/1.4003097

U2 - 10.1115/1.4003097

DO - 10.1115/1.4003097

M3 - Article

VL - 133

JO - Journal of Dynamic Systems, Measurement and Control: Transactions of the ASME

JF - Journal of Dynamic Systems, Measurement and Control: Transactions of the ASME

SN - 0022-0434

IS - 2

M1 - 021008

ER -