• Title/Summary/Keyword: Input shaping

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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.

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.

Discretization Effects of Real-Time Input Shaping in Residual Vibration Reduction for Precise XY Stage (정밀 XY 스테이지 잔류진동 억제를 위한 실시간 입력성형에서의 이산화 효과에 관한 연구)

  • Park, Sang-Won;Choi, Hun-Seok;Singhose, William;Hong, Seong-Wook
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.16 no.4
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    • pp.71-78
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    • 2007
  • Input shaping is known to be a very effective tool for suppressing residual vibration without introducing any complicated sensors and feedback control. Real-time input shaping schemes necessitate a process such that the input command is discretized to deal with non-prescribed, real-time input. Thus parameters associated with input command discretization, such as time spacing and duration time, are unknowns which affect the performance of input shaping schemes, especially for small and fast XY stages. This paper investigates the effects of input command discretization parameters, such as time spacing and duration time, on the dynamic performance of XY stages subjected to real-time input shaping. An experimental system is developed which is equipped with an XY stage driven by servo-motors and real-time user command. Experiments are performed to investigate the dynamic performance of XY stage by changing these parameters and to yield a strategy to gain better performance.

Input shaping filtering methods for the control of structurally flexible long-reach manipulators (구조적으로 유연하고 긴 로봇 매니퓰레이터의 제어를 위한 입력 Shaping 필터링 방법)

  • 황동환;권동수
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.45 no.1
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    • pp.123-130
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    • 1996
  • Due to high payload capacity and high length-to -cross-section ratio requirements, long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operations, various types of input shaping filtering methods have been investigated. A robust notch filtering method and an impulse shaping filtering method were investigated and implemented. In addition, two very different approaches have been developed and compared. One new approach, referred to as a

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Command Generation Method for High-Speed and Precise Positioning of Positioning Stage (위치결정 스테이지의 고속 정밀 위치결정을 위한 입력성형명령 생성 기법)

  • Jang, Joon-Won;Park, Sang-Won;Hong, Seong-Wook
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.10
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    • pp.122-129
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    • 2008
  • This paper deals with precise positioning of a high-speed positioning stage without inducing residual vibration by using an input shaping technique. Input shaping is well known to be a very effective tool for suppressing the residual vibration of flexible structures. However, the ordinary input shaping for positioning stages is designated mostly for velocity regulation, not for the residual vibration at the target position. The main difficulties in implementing input shaping along with precise positioning are the time delay caused by the servo system characteristics and the s-curve feature often employed in some motor controllers. This paper analyzes the dynamic responses of a single-mode-dominate stage system subjected to input shaping. A theoretical model is developed io investigate the nature of system. In order to overcome the difficulty, this paper proposes an improved input shaper based on modified command profile generation. The proposed method is proved effective through experiments and simulations.

A Study on Comparison of Input-Shaping Filter for Optimum Design between Artificial Immune Algorithm and Genetic Algorithm (입력성형필터 최적 설계를 위한 인공 명역망과 유전 알고리즘 비교에 관한 연구)

  • Lee, Dong-Je;Choi, Young-Kiu
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.8
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    • pp.1482-1488
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    • 2010
  • Recently to increase the productivity and improve the quality in the industrial process, suppressing the residual vibration in motion control systems becomes the essential problem to solve. One of the methods to suppress the residual vibration is the input shaping technique. It is based on parameters of the system model; however, the parameters are usually difficult to obtain. This paper shows the effects of the residual vibration caused by the variation of the general velocity profile for the system with two vibration modes, and also shows the effects of the input shaping filter based on the parameters of system model. Finally, the simulation results show that the proposed input shaping filter using an artificial immune algorithm is more effective for suppressing residual vibrations than genetic algorithm.

Development of negative Input Shaping Technique for MIMO System (다중 입출력 시스템을 위한 음의 입력다듬기 기법의 개발)

  • Yun, Seung-Kook;Chang, Pyung-Hun;Park, Juyi
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.12
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    • pp.1045-1052
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    • 2000
  • In this paper, we propose a method to apply the Input Shaping Technique (IST) to multi-input multi-output (MIMO) systems. In MIMO systems, there is a high possibility of multi-mode residual vibration. The IST filter designed for this multi mode may need a longer time to suppress the residual vibration. Previous works prove that we can shorten the time lag by using negative sequence. This negative sequence, however, causes another problem - it requires excessive control input. In this paper, we provide a remedy to reduce the size of control input by limiting the reference input by limiting the reference input and its derivative. The result of simulations and experiments on a 2 link flexible arm confirmed the effectiveness of the proposed method.

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Residual Vibration Reduction of Precise Positioning Stage Using Virtual-Mode Based Input Shapers (가상모드 입력성형기를 이용한 위치결정 스테이지 잔류진동 저감)

  • Seo, Yong-Gyu;Jang, Joon-Won;Hong, Seong-Wook
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.18 no.3
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    • pp.255-260
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    • 2009
  • This paper presents an experimental result of virtual mode input shaping for positioning stage. Input shaping is liable to increase the rise time of the system, which often degrades the performance of system. The virtual mode input, shaping is an input shaper design method to improve this problem. Experiments are performed with a precise positioning stage with a flexible beam of which natural frequency is adjustable. The experimental results show that the virtual-mode shaper is useful to reduce the rise time as well as the residual vibration of precise positioning stages.

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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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Sensitivity Analysis of input shaping filter designed in the Z-domain (Z-영역에서 설계된 입력성형필터의 민감도 해석)

  • Park, Un-Hwan;Lee, Jae-Won;Lim, Byoung-Duk
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.8
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    • pp.883-888
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    • 1999
  • To obtain high positioning auccuracy for a long, flex bleman Ipulator, residual vibration must be removed from the tip motion. But it is difficult to control the vibration of low frequency. There are open-loop and closed loop methods in the elimination of the residual vibration. We inroduce input shaping technique has been used as a simple open-loop method of controlling the residual vibration of a flexible manipulator. Design of input shaper in the continuous time domain is complicated. This paper presents a new technique that designs input shaper in the z-domain and analyzes input shaping method in the z-domain. This technique is simple and easy to design input shaper.

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