Abstract
One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.
Highlights
Motion control studies have become a key subject of robotics and other automation-related research areas
In order to demonstrate the effectiveness of the proposed technique, the simulation and experimental results are compared with the results reported by Kapucu et al [29]
It can be concluded that the proposed new method is better in comparison to the old method
Summary
Motion control studies have become a key subject of robotics and other automation-related research areas. Aspinwall [13] suggested a different command-shaping approach This method is based on shaping a rectangular or a ‘bang-bang’ forcing function. Piazzi and Visioli [15] recently suggested a new technique based on shaping the input signal via inverse dynamic analysis. They proposed a polynomial function as a desired output to produce the input signal. Sahinkaya [16] and [17] suggested using a third order exponential function for the output motion to shape input signals using inverse dynamics Another approach to the problem is the use of an input-shaping technique that is based on convolving the reference command with a sequence of impulses [18] and [19].
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