1 以以以以以以以以以以以以以以以 Speaker : Wan-Tsz Lin Advisor : K-S Chen Date : 2007.3.27 National Cheng Kung University Mechanical Engineering
Transcript
Slide 1
1 Speaker : Wan-Tsz Lin Advisor : K-S Chen Date : 2007.3.27
National Cheng Kung University Mechanical Engineering
Slide 2
2 Outline Introduction and review of input shaping The
application of input shaping and paper review Suppression of
Residue Vibration for a Two-Degree of Freedom System During Long
Range Motion Using Command Shaping Methods Conclusion
Slide 3
3 Part 1 : Introduction and review of input shaping
Slide 4
4 Introduction of input shaping (1) : :
Slide 5
5 ZV & ZVD shaper Zero Vibration (ZV) Zero Vibration and
Derivative (ZVD)
9 Part 2 : Review of the application of input shaping
Slide 10
10 : A single-link flexible manipulator Jinjun Shan et al.,
Journal of Sound and Vibration 285 (2005) 187-207
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11 Experimental result Without shaping (a)Attitude angle motion
(b)Tip deflection curve With ZV shaper (a)Attitude angle motion
(b)Tip deflection curve Desired angle Actual angle
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12 W. E. Singhose et al., IEEE transactions on robotics and
automation VOL. 12,No. 6, (1996) 881-887. Steel beam with
flexibility parallel to the x direction Steel beam with flexibility
parallel to the y direction A flexible structure with orthogonal
decoupled modes A compressed air paint brush The system had
uncoupled modes at 4.5 and 6.2 Hz
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13 Experimental result Unshaped response to circular trajectory
Unshaped response to square trajectory shaped response to circular
trajectory shaped response to square trajectory
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14 W. E. Singhose et al., proceeding of the 1998 IEEE,
international conference on control application.
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15 Experimental result (1) When the trolley is moved
approximately 5 ft, using the standard on/off commands, the payload
mass was 140kg, the hook mass was 300kg, and the rigging length L2
was 2.5m. Endpoint response using standard control the residual
vibration amplitude of simulation was 26.5 in, and of experiment
was 28.5 in.
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16 Experimental result (2) Endpoint response using non- robust
two-mode shaper the residual vibration is eliminated completely
from the end point response if the model is perfect. Endpoint
response while input shaping for the low mode Residual oscillation
Simulation: 2.75in; experiment: 3.75in
Slide 17
17 Part 3 : Suppression of Residue Vibration for a Two-Degree
of Freedom System During Long Range Motion Using Command Shaping
Methods
Slide 18
18 Research progress gantry crane, wafer stepper
Slide 19
19 : damping ratio damping ratio
Slide 20
20 The application on single pendulum : M1 = 0.28448 kg M2 =
0.2575 kg L1 = 0.262 m L2 = 0.125 m f1 = 0.8496Hz f2 = 2.35Hz
&
Slide 21
21 Experiment setup Laser sensor
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22 No shaping at Vmax = 1.8 cm/s Simulation Overshoot /
undershoot : ~4mm Motor input command (acceleration ) Absolutely
displacement
Slide 23
23 The design of input shaping 2-pulse ZV 3-pulse ZV B T/2