• Title/Summary/Keyword: 입력성형기법

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Input Shaping for Vibration Reduction in Precise Positioning System (정밀 위치결정 시스템의 진동 저감을 위한 입력성형 기법)

  • Hong, Seong-Wook;Park, Sang-Won;Singhose, William E.
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.4
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    • pp.26-31
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    • 2008
  • 본 논문은 정밀 위치결정 시스템의 잔류진동을 효과적으로 제거할 수 있는 입력성형기법을 소개하고, 실시간 입력성형기법을 적용하는 방법을 설명하였다. 또한 두 가지 응용 분야에 대한 실험결과를 바탕으로 입력성형기법의 성능을 고찰하였다. 일반적으로 입력성형기법은 정밀 위치결정 시스템에 대해 동작 완료시간을 단축시키는 효과가 있을 뿐만 아니라 위치결정 정밀도를 향상시키는 효과가 있다. 그리고 되먹임제어 방법에 비해 적용방법도 간단하며 저렴하게 구성할 수 있다는 장점이 있으므로 많은 정밀 위치결정 시스템에 유용할 것으로 생각된다.

Reduction of Residual Vibration for 2 Axes Overhead Crane by Input Shaping (입력성형기법에 의한 2축 천정크레인의 잔류진동 감소)

  • 박운환;이재원;노상현
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.4
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    • pp.181-188
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    • 2000
  • Input shaping is a method fur reducing residual vibration. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with the desired system command. It has been applied to robot with a flexible manipulator. But it can be applied to the reduction of residual vibration far overhead crane. In this paper, input shaping shows good performance for anti-sway of overhead crane. In the z-domain, we designed an input shaper and calculated the sensitivity of it. If sensitivity is calculated in the z-domain, the shapes of sensitivity curves are expected easily. Accordingly, it is easy to design an input shaper in the z-domain. We compared the response of a system with shaper to it without that. Also, we compared El shaper to ZV shaper in view of robustness.

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An Improved Input Shaping Method for Precise Stopping and Residual Vibration Reduction of Cranes (크레인의 정밀한 정지와 잔류진동 억제를 위한 개선된 입력 성형기법)

  • Bae, Gyu-Hyun;Hong, Seong-Wook
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.7
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    • pp.717-724
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    • 2013
  • Industrial cranes are indispensable equipment in heavy industry. However, unwanted vibrations in cranes often cause accidents. Input shaping is widely accepted as a useful tool for removing residual vibration in cranes. A unity magnitude zero vibration (UMZV) input shaper is often used for cranes driven by on-off-type motors. However, although a UMZV input shaper minimizes residual vibration, the input shaper cannot prevent the crane from moving slightly further than expected from the original command. This paper describes an improved method of input shaping that can compensate for position inaccuracies, as well as remove the residual vibration of cranes. Experiments were performed to validate the proposed input-shaping method, illustrated through numerical simulations.

Deformational Characteristics of Compacted Subgrade Soils in Korea with Specimen Construction Methods (시편 성형기법에 따른 국내 다짐 노상토의 변형특성)

  • Kweon, Gi-Chul;Hwang, Chang-Il
    • International Journal of Highway Engineering
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    • v.9 no.4
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    • pp.55-63
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    • 2007
  • Deformational characteristics of subgrade soils are important properties in the mechanistic analysis and design of pavement system. In this study, to evaluate the effect of specimen construction methods on deformational characteristics of subgrade soils in Korea, resonant column tests were performed for specimens constructed by various methods. Specimen construction method affected to the modulus value but the variation in the normalized modulus reduction curve was almost identical. The effects of specimen construction method on modulus are decreased with increasing confining pressure. The average maximum variation in the modulus value with different specimen construction methods was estimated as 16.8%. The differences in the modulus value of the specimens with same water content and dry density conditions that made by gyratory compaction and impact compaction were very small within 5.2%. The impact compaction method was proposed as a specimen construction method for determining the design input parameter testing considering that impact compaction method is much simpler and require less expensive specimen construction equipment and setup than gyratory compaction method.

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Application of Input Shaping Method to Industrial Cranes (산업용 크레인에서의 입력성형기법 응용)

  • Park, Sang-Won;Hong, Seong-Wook
    • Journal of the Korean Society for Precision Engineering
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    • v.28 no.9
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    • pp.1032-1039
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    • 2011
  • This paper presents results of input shaping to industrial cranes. A brief theoretical background for input shaping is described. Several examples of input shaping application to sway regulation for industrial cranes are presented. The presented results show that input shaping is very useful for industrial cranes.

A New Design Method for Multi-mode Input Shapers to Eliminate Residual Vibration in Dynamic Systems (동적 시스템의 잔류진동 제거를 위한 새로운 다모드 입력성형기 설계 방법)

  • Park, Sang-Won;Hong, Seong-Wook;Jon, Danielson
    • Journal of the Korean Society for Precision Engineering
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    • v.26 no.4
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    • pp.100-106
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    • 2009
  • The current tendency toward light weight and fast machines has lead to a need to suppress vibration of flexible dynamic systems. Input shaping is an efficient tool to eliminate transient and residual vibration caused by motion of these systems. This paper proposes a new formulation of the design method for multi-mode input shapers to eliminate residual vibration in flexible dynamic systems. The essence of the proposed method is to minimize the number of impulses to be n+1 for n-mode input shapers. This paper also suggests a solution procedure to solve the complex-valued nonlinear matrix equation for the input shapers. The proposed method is applied to two-mode input shapers. This paper discusses characteristics of several input shapers obtained under the same condition. Simulations and experiments show that the proposed method is very useful for designing multi-mode input shapers.

Input Shaping for Servo Control of Machine Tools (공작기계의 서보제어와 입력성형기법)

  • Kim, Byung-Sub
    • Journal of the Korean Society for Precision Engineering
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    • v.28 no.9
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    • pp.1011-1017
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    • 2011
  • Servo control loops are a core part in the control architecture of machine tools. Servo control loops manage acceleration, velocity and position of all the axes in a machine tool based on commands. The performance of servo control loops sets the basis for quality of production paris and cycle time reduction. First, this paper presents a general control architecture of machine tools and several control schemes in literature, which can be applicable to machine tools control; including Zero Phase Error Tracking Control (ZPETC) and Cross Coupling Control (CCC). After that, modem control strategies to mitigate the problem of high speed machining are reviewed. In high speed machining, high accelerations excite the machine structure up to high frequencies, thereby exciting the structure's modes of vibration. These structural vibrations need to be damped if accurate positioning or trajectory following is required. Input shaping is an attractive option in dealing with structural vibrations. The advantages and drawbacks of using input shaping technique for machine tools are discussed in detail.

Design of Robust Input Shaping Filter in the Z-domain (Z-영역에서 강인한 입력성형필터의 설계)

  • Park, Un-Hwan;Lee, Jae-Won;Lim, Byoung-Duk;Joo, Hae-Ho
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.4 s.97
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    • pp.155-162
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    • 1999
  • Input shaping technique has been used as a simple method of controlling the residual vibration of a flexible manipulator. With the conventional methods previously proposed by several authors, the frequency range that shows a good performance is restricted. When the designed frequency being different from the natural frequency of a system, the performance of control degrades remarkably. This paper introduced a new technique that designs input shaping with robustness in the z-domain.

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A comparative study in input shaping techniques using a flexible manipulator (유연한 조작기를 이용한 입력성형기법의 비교 연구)

  • 심호석;이재원;주해호
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.1269-1272
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    • 1996
  • Several input shaping techniques are suggested to reduce the vibration of a flexible manipulator. The theories of typical 4 methods(Singer, Tuttle, Feddema, Zuo) are explained and are tested by the experiment of one link flexible manipulator. Zuo's method is the best of all with respect to its robustness.

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