Abstract
The present work develops an initial study of the Optimal Model Reference Command Shaping (MRCS) approach to effective vibration control of real world multibody-multimode flexible systems. The proposed MRCS is designed based on a multibody model, described by the corresponding Differential Algebraic Equations (DAEs), but avoids the need for estimation of the multibody system natural frequencies, extracted from the DAEs, as in the case of customary command shaping. Instead, a well know high order reference model is proposed to design the shaper. Then attempt that the shaper plus the multibody system output follows as close as possible the model reference output. An overhead crane hanging distributed multibody payloads has been chosen as showcase.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Pao, L.Y.; Singhose, W.E.: A Comparison of Constant and Variable Amplitude Command Shaping Techniques for Vibration Reduction. In Proceedings of the IEEE Conference on Control Application Applications, Albany, NY, USA, 2829, pp. 875881. September (1995)
Banerjee A.K. and Singhose W.E.: Minimum Time Fuel Efficient Maneuver of Flexible Spacecraft with Vibration Amplitude Constraint. In AAS Astrodynamics Specialist Conf. Halifax Nova Scotia, (1995)
Singh T.: Fuel/Time Optimal Control of the Benchmark Two-Mass/Spring System. In Proceedings of the American Control Conference. Seattle, W.A., pp. 3825-3829, 1995.
Rogers K. and Seering W.P.: Input Shaping for limiting Loads and Vibration in Systems with On-Off Actuators. In AIAA Guidance, Navigation and Control Conference. San Diego CA, 1996.
Liu Q. and Wie B.: Robust Time-Optimal Control of Uncertain Flexible Spacecraft. In Journal of Guidance Control, and Dynamics, vol 3, pp. 597-604 (1992)
Nikravesh, P.E.: Planar Multibody Dynamics: Formulation Programming and Applications. CRC Press: Boca Raton, FL, USA, (2008).
Singer, N.C.; Seering, W.P. : Preshaping Command Inputs to Reduce System Vibration. In Journal of Dynamic Systems Measurement and Control, pp 76-82. (March 1990).
Singer, N.C.; Seering, W.P. : An extension of Command Shaping Methods for Controlling Residual Vibration Using Frequency Sampling. In Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France, 12–14 May 1992; Volume 1, pp. 800–805. May (1992);
Singhose, W.E.; Porter, L.; Tuttle, T.D.; Singer, N.: Vibration reduction Using Multi-Hump Input Shapers. In Trans. ASME J. Dyn. Syst. Meas. Control, vol 119, pp 320–326. (1997)
Singhose, W.E.; Singer, N.C.: Input Shaping for Vibration Reduction with Specified Insensitivity to Modeling Errors. In Proceedings of the 1996 Japan-USA Symposium on Flexible Automation, Boston, MA, USA, 7–10 July (1996).
Peláez G., Vaugan J., Izquierdo P., Rubio H., García-Prada JC.: Dynamics and Embedded Internet of Things Input Shaping Control for Overhead Cranes Transporting Multibody Payloads. In Sensors (Basel). 18(6). pii: E1817. https://doi.org/10.3390/s18061817. (2018)
Haugh, E.J.: Computer Aided Kinematics and Dynamics of Mechanical Systems; Allyn and Bacon Series in Engineering; Allyn and Bacon: Boston, MA, USA, (1989).
García de Jalón, J.; Bayo, E.: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge; Springer: New York, NY, USA, (1994).
Nikravesh, P.E.: Planar Multibody Dynamics: Formulation Programming and Applications; CRC Press: Boca Raton, FL, USA, (2008).
Kirk Donald E. : Optimal Control Theory: An Introduction. Dover Books (2004).
Singh Tarunraj : Optimal Reference Shaping for Dynamical Systems. CRC Press (2010).
Jaafar H.I.,Mohamed Z.,Shamsudin M.A., Mohd Subha N.A., Liyana Ramli, Abdullahi A.M.: Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane. In Mechanical Systems and Signal Processing 115, pp 677-695, (2019).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Peláez, G., Rubio, H., Souto, E., García-Prada, J.C. (2019). Optimal Model Reference Command Shaping for vibration reduction of Multibody-Multimode flexible systems: Initial Study.. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_402
Download citation
DOI: https://doi.org/10.1007/978-3-030-20131-9_402
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20130-2
Online ISBN: 978-3-030-20131-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)