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Input Shaping for Nonlinear Drive Systems

[+] Author Affiliations
Thomas H. Bradley, Terry Hall, Qiulin Xie, William Singhose, Jason W. Lawrence

Georgia Institute of Technology

Paper No. IMECE2006-14396, pp. 633-640; 8 pages
  • ASME 2006 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Chicago, Illinois, USA, November 5 – 10, 2006
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4768-3 | eISBN: 0-7918-3790-4
  • Copyright © 2006 by ASME


Input shaping is effective at eliminating vibration in many types of flexible systems. This paper discusses how input shaping is affected by actuators with unequal acceleration and deceleration dynamics. It is shown that traditional Unity Magnitude Zero Vibration (UMZV) shapers have degraded performance when used with such actuators. A new type of UMZV shaped input command is developed to compensate for the nonlinearity. Experiments on a portable bridge crane demonstrate the effectiveness of the proposed approach.

Copyright © 2006 by ASME



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