Waveform command shaping control of multimode systems

Abstract

A method for eliminating residual vibrations in multimode systems is presented using a command shaping technique. The proposed command shaping technique captures two main advantages. Namely, the independence of the time length of the shaped command from the resonant frequencies of the system, and the ability to generate the command profile without a full system model. Experiments on systems with partial models represented by their resonant frequencies show that shaped command profiles generated using actual measured resonant frequencies of a system outperform those based on mathematical models. This feature of the proposed command shaping technique makes it very attractive for complicated multimode systems where mathematical models are difficult to build. Profiles of the proposed shaped command are simple and do not require intensive calculations. Performance of the proposed shaped command is validated using numerical simulations and experiments. Numerical simulations prove that the shaped commands are capable of completely eliminating residual vibrations of multimode systems. Experiments show that residual vibration elimination depends on the level of accuracy of the measured resonant frequencies of the system.