Concurrent Design of Input Shaping and Proportional Plus Derivative Feedback Control

Systems that exhibit flexible dynamics are widespread and present a very challenging control problem when their performance is pushed to the limit. If there is some knowledge of the flexible modes, then command signals can be generated to negate the detrimental dynamics. These vibration-reducing commands are dependent on the feedback controller gains because the gains influence the flexible modes. This paper presents a method for concurrently designing a PD feedback controller and a command generator so that performance is optimized. The design method takes into account limits on allowable overshoot, residual vibration, and actuator effort. Furthermore, the structure of the method allows a wide range of performance requirements, such as disturbance rejection, to be integrated into the design. Results demonstrate that a PD controller cannot achieve the same performance as a PD controller augmented with a command generator.

[1]  William Singhose,et al.  Improving repeatability of coordinate measuring machines with shaped command signals , 1996 .

[2]  J. F. Jansen.  Control and Analysis of a Single-Link Flexible Beam with Experimental Verification , 1992 .

[3]  A. Galip Ulsoy,et al.  An Approach to Control Input Shaping With Application to Coordinate Measuring Machines , 1999 .

[4]  Lucy Y. Pao,et al.  Robust Input Shaper Control Design for Parameter Variations in Flexible Structures , 2000 .

[5]  Wayne J. Book,et al.  Filtering micro-manipulator wrist commands to prevent flexible base motion , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[6]  Mark W. Noakes,et al.  Generalized inputs for damped-vibration control of suspended payloads , 1992, Robotics Auton. Syst..

[7]  Stephen Yurkovich,et al.  Vibration control of a two-link flexible robot arm , 1993 .

[8]  Ichiro Watanabe,et al.  Digital shaping filters for reducing machine vibration , 1992, IEEE Trans. Robotics Autom..

[9]  William Singhose,et al.  An input shaping controller enabling cranes to move without sway , 1997 .

[10]  Warren P. Seering,et al.  Preshaping Command Inputs to Reduce System Vibration , 1990 .

[11]  J.T. Feddema.  Digital Filter Control of Remotely Operated Flexible Robotic Structures , 1993, 1993 American Control Conference.

[12]  William Singhose,et al.  Vibration Reduction Using Multi-Hump Input Shapers , 1997 .

[13]  U.-H. Park,et al.  DESIGN AND SENSITIVITY ANALYSIS OF AN INPUT SHAPING FILTER IN THE Z -PLANE , 2001 .

[14]  Warren P. Seering,et al.  Residual Vibration Reduction Using Vector Diagrams to Generate Shaped Inputs , 1994 .

[15]  Warren P. Seering,et al.  INPUT SHAPING FOR VIBRATION REDUCTION WITH SPECIFIED INSENSITIVITY TO MODELING ERRORS , 1996 .

[16]  Warren P. Seering,et al.  A zero-placement technique for designing shaped inputs to suppress multiple-mode vibration , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[17]  N. Seth,et al.  Vibration control of a coordinate measuring machine , 1992, [Proceedings 1992] The First IEEE Conference on Control Applications.

[18]  Warren P. Seering,et al.  Experimental Evaluation of Shaped Inputs to Reduce Vibration for a Cartesian Robot , 1990 .

[19]  David Wang,et al.  Verification of a closed-loop shaped-input controller for a five-bar-linkage manipulator , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[20]  O. Smith.  Posicast Control of Damped Oscillatory Systems , 1957 .

[21]  Masayoshi Tomizuka,et al.  Zero Phase Error Tracking Algorithm for Digital Control , 1987 .

[22]  Warren P. Seering,et al.  An extension of command shaping methods for controlling residual vibration using frequency sampling , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.