Fast and accurate point-to-point motion is a common operation for industrial machines, but vibration will frequently corrupt such motion. This paper develops commands that can move machines without vibration, even in the presence of Coulomb friction. Previous studies have shown that input shaping can be used on linear systems to produce point-to-point motion with no residual vibration. This paper extends command-shaping theory to nonlinear systems, specifically systems with Coulomb friction. This idea is applied to a PD-controlled mass with Coulomb friction to ground. The theoretical developments are experimentally verified on a solder cell machine. The results show that the new commands allow the proportional gain to be increased, resulting in reduced rise time, settling time, and steady-state error.
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August 2005
Technical Papers
Friction-Compensating Command Shaping for Vibration Reduction
Jason Lawrence,
Jason Lawrence
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA
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William Singhose,
William Singhose
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA
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Keith Hekman
Keith Hekman
Department of Mechanical Engineering,
The American University in Cairo
, Cairo, Egypt
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Jason Lawrence
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA
William Singhose
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA
Keith Hekman
Department of Mechanical Engineering,
The American University in Cairo
, Cairo, EgyptJ. Vib. Acoust. Aug 2005, 127(4): 307-314 (8 pages)
Published Online: September 3, 2004
Article history
Received:
June 25, 2003
Revised:
September 3, 2004
Citation
Lawrence, J., Singhose, W., and Hekman, K. (September 3, 2004). "Friction-Compensating Command Shaping for Vibration Reduction." ASME. J. Vib. Acoust. August 2005; 127(4): 307–314. https://doi.org/10.1115/1.1924637
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