Vibration - Free Positioning Of Flexible Systems Using Impulse Shaping

Rustam, Ramli (2008) Vibration - Free Positioning Of Flexible Systems Using Impulse Shaping. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Impulse shaping reduces residual vibrations in computer controlled machines. Impulse shaping is implemented by convolving a sequence of impulses, an input shaper with any desired command. The shaped command that results from the convolution are then is used to drive the system. If the impulses in the shaper are chosen correctly, then the system will respond without vibration to any unshaped command. In order to increase the rise time, the impulses are allowed to take negative values, and multihump shaping of the impulses and then can be use to increase the system robustness. The shaped input function is derived from the specified output function so that the designer can choose the speed and shaped of the motion within the limitations of the drive system. This technique is applied to a gantry crane system which is fourth order systems. In this system, the parameters for the system such as trolley mass, payload mass, and hoist length need to be defined first. Simulated responses of the position of the trolley and sway angle are presented using simulink in Matlab. This technique is compared with the bang-bang input.

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