Input shaping performance on reduction of steadystate vibration due to repeated motion of positioning device

Abstract

Positioning devices are usually required to operate at high speed. Thus, residual vibration inevitably occurs due to abrupt change in speed and direction of positioning devices. Input shaping method has been acknowledged to be an effective tool to reduce such residual vibration of positioning devices or their peripherals. This paper investigates the possibility of input shaping application on the reduction of steady-state vibration caused by repeated motion of positioning devices. A single degree of freedom vibration model is used to analyze the effects of input shaping on the steady-state vibration. Sensitivity plot is employed to analyze the characteristics of input shaping performance against the steady-state vibration. Simulation results show that the frequency error sensitivity for the steady-state vibration is different from that for the residual vibration, and that the performance is highly dependent upon the velocity profile. Simulation results also demonstrate the importance of reviewing the frequency error sensitivity plot in designing the input shaper for applying input shaping method to the steady-state vibration due to repeated motion of positioning device.