Minimizing residual vibrations for non-zero initial states: Application to an emergency stop of a crane
This paper presents an approach to design command inputs for the reduction of residual vibrations in mechanical systems for nonzero initial states. The technique starts with the development of a standard input shaper in a second order oscillator, and adds the initial states of the system to the form...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2013 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/335950 |
| Acceso en línea: | https://hdl.handle.net/2117/335950 https://dx.doi.org/10.1007/s12541-013-0258-9 |
| Access Level: | acceso abierto |
| Palabra clave: | Vibration Residual vibration Residual response Vibration control Command shaping Input shaping Forcing function Vibració Àrees temàtiques de la UPC::Enginyeria mecànica Àrees temàtiques de la UPC::Enginyeria mecànica::Mecànica Àrees temàtiques de la UPC::Enginyeria mecànica::Mecànica::Vibracions mecàniques |
| Sumario: | This paper presents an approach to design command inputs for the reduction of residual vibrations in mechanical systems for nonzero initial states. The technique starts with the development of a standard input shaper in a second order oscillator, and adds the initial states of the system to the formulation. However, it is proven that the obtained input shaper does not guarantee a null residual vibration when it is convolved with any unshaped command. To obtain an analytically proven zero-vibration response, it is required to include the parameters that characterize the response of the system to a selected normalized unshaped command in the formulation. By introducing an appropriate processing time delay and by measuring the initial states using a feedback sensor, the proposed method has been applied in a real time scenario where an emergency stop of a crane is required, assuming that initially the payload is swaying. |
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