PRESHAPING COMMAND INPUTS TO REDUCE SYSTEM VIBRATION

被引:1199
作者
SINGER, NC
SEERING, WP
机构
[1] Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA
来源
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1990年 / 112卷 / 01期
关键词
D O I
10.1115/1.2894142
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested move without residual vibration. A short move time penalty is incurred (on the order of one period of the first mode of vibration). The preshaping technique is robust under system parameter uncertainty and may be applied to both open and closed loop systems. The Draper Laboratory's Space Shuttle Remote Manipulator System simulator (DRS) is used to evaluate the method. Results show a factor of 25 reduction in endpoint residual vibration for typical moves of the DRS. © 1990 by ASME.
引用
收藏
页码:76 / 82
页数:7
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