There are many nonlinear vibration problems of mechanical structures because of various reasons such as geometric parameters, impact loads, or property of materials. One simple solution for the suppression of nonlinear structural vibration is input shaping that generates a command signal to cancel its vibration. However, a motion platform to evaluate the performance of input shapers for nonlinear vibration is rare. This paper presents the evaluation of input shaping methods for the nonlinear vibration system using a Furuta pendulum. First, the mathematical model of the Furuta pendulum is introduced and its nonlinear vibration characteristic is analyzed. Then, commands for canceling the nonlinear vibration of the Furuta pendulum are generated with various input shapers such as ZV, ZVD, and ZVDD. Finally, we illustrate the effects of input shapers on the nonlinear Furuta pendulum by comparing the pendulum overshoot, settling time, and vibration-reduction ratio. The Furuta pendulum is shown to be a good motion platform to evaluate input shaping methods for nonlinear vibration systems.
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Analysis of the parametric configuration impact on BallBot control performance Anh‐Duc Pham, Ba Hoa Thai, Phuoc Vinh Dang, Nhu Thanh Vo International Journal of Mechanical System Dynamics.2024; 4(4): 446. CrossRef
Most positioning systems experience residual vibration during operation. Such residual vibration can be eliminated or reduced to an acceptable level by using the input shaping method. However, adopting the input shaping methods typically introduces a certain amount of time-delay into a system. This study focused on the development of a delay-time adjustable input shaping method to eliminate vibration caused by repetitive motion in positioning systems. The proposed input shaping method, called the virtual mode (VM) input shaper, uses a virtual frequency parameter that adjusts delay-time and cancels residual vibration. Unlike most previous input shaping studies, this study investigated VM input shaping performance to eliminate the steady-state vibration induced by repetitive motion in positioning systems. To this end, an analytical formulation was derived and used for simulating the input shaping performance with varying dominant parameters involved in a system. Experiments were also performed to validate the proposed method.
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Data Driven Vibration Control: A Review Weiyi Yang, Shuai Li, Xin Luo IEEE/CAA Journal of Automatica Sinica.2024; 11(9): 1898. CrossRef
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The residual vibration during the high acceleration and deceleration of a motion stage degrades the manufacturingsystem productivity and lifespan. Although a passive RFC mechanism with a movable magnet track reduces the residual vibration of the system base, a magnet track resonance may occur according to the motion profile, and the mover inposition error increases due to the residual vibration of the magnet track. We investigated input-shaping methods for a linear motor motion stage with a passive RFC mechanism. An air-bearing linear motor motion stage with the passive RFC mechanism is built, and the dynamic characteristic of the passive RFC mechanism is identified using a freevibration test. Then, mover velocity profiles are generated using various input-shaping methods. Further, the effects of the input-shaping methods on the air-bearing linear motor motion stage are investigated by comparing the magnet track oscillation, settling time, and mover in-position error. Finally, several input-shaping methods are applied to reduce the mover rise-time delay for the proposed linear motor motion stage. A properly shaped input motion profile removes the residual vibration of the passive RFC mechanism without any additional devices, as well as reducing the transmitted reaction force and the in-position error.
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Fuzzy Neural Network Control for a Reaction Force Compensation Linear Motor Motion Stage Kyung Ho Yang, Hyeong-Joon Ahn International Journal of Precision Engineering and Manufacturing-Smart Technology.2024; 2(2): 109. CrossRef
Software-Based Integral Product Architecture for Modular Motion Control System of a RFC Linear Motor Motion Stage: Model-Based DOB for Residual Vibration Suppression Seong Jong Yoo, Hyeong-Joon Ahn International Journal of Precision Engineering and Manufacturing.2020; 21(2): 203. CrossRef
Evaluation of Input Shaping Methods for the Nonlinear Vibration System Using a Furuta Pendulum Anh-Duc Pham, Hyeong-Joon Ahn Journal of the Korean Society for Precision Engineering.2020; 37(11): 827. CrossRef
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