Reducing Effect of Residual Vibration Through Command Input Shaped Considering Partial Modes

부분 모드만을 고려하여 성형된 입력을 이용한 잔류 진동의 감소 효과

Shaping an input command through considering the resonant modes of multi degrees of freedom system, it is possible to realize the wanted motion, without exciting the uncontrollable modes of the flexible system. But, an increase of modes to be considered brings inevitably about the time delay due to an excessive rising time. On the purpose of reducing the rising time, only the interesting and dominant modes can be considered to determine the timing pulses of input shaper. In this paper, an effect of shaper by the partial modes is analysed for a specific system and the input shapers by the partial modes are analysed for three d.o.f damped system, using Matlab simulation.