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A Frequency-Modulation Command-Shaping Strategy for Multi-Mode Systems

[+] Author Affiliations
Ziyad N. Masoud

German Jordanian University, Amman, Jordan

Khaled A. Alhazza

Kuwait University, Kuwait City, Kuwait

Paper No. DETC2013-13355, pp. V07AT10A058; 10 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5596-6
  • Copyright © 2013 by ASME


Single-mode shaped commands can be implemented for oscillations control of multi-mode systems provided that all frequencies of the system are odd-multiples of the shaped command frequency. This criterion is utilized in this work to develop a command shaping strategy for multi-mode systems. A frequency-modulation command shaper is derived based on the use of a single-mode command-shaping technique. The proposed strategy is based on deriving a closed-loop model of a multi-mode system with its modal frequencies modulated so that higher mode frequencies are odd-multiples of the first mode frequency. A single-mode double-step primary command-shaper with a design frequency equal to the first mode frequency of the closed-loop system is then used. The input command to the plant of the closed-loop system is used as shaped commands for the multi-mode system. Numerical simulations are used to demonstrate the performance of the proposed strategy along with experiments on scaled models of a triple, quadruple, and quintuple-pendulums.

Copyright © 2013 by ASME



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