Documents disponibles écrits par cet auteur

Command shaping for flexible systems subject to constant acceleration limits / Jon Danielson in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°5 (Septembre 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 8 p. Titre : Command shaping for flexible systems subject to constant acceleration limits Type de document : texte imprimé Auteurs : Jon Danielson, Auteur ; Lawrence, Jason, Auteur ; William Singhose, Auteur Année de publication : 2008 Article en page(s) : 8 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : cranes;  vibration;  flexible  systems;  impulse  (physics) Résumé : Input shaping is an effective means of eliminating vibration in many types of flexible systems. This paper discusses how input shaper performance is affected by a fixed acceleration limit. This type of limit is a common occurrence in many mechanical drive systems because it corresponds to a constant force or torque input. It is shown that some input shapers are not affected by an acceleration limit under certain conditions. A test criterion is developed to determine what types of input shapers are negatively affected, and a method is proposed to compensate for the detrimental effects of the constant acceleration limit. Experimental results from an industrial crane support the main theoretical results. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Command shaping for flexible systems subject to constant acceleration limits [texte imprimé] / Jon Danielson, Auteur ; Lawrence, Jason, Auteur ; William Singhose, Auteur . - 2008 . - 8 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 8 p. Mots-clés : cranes;  vibration;  flexible  systems;  impulse  (physics) Résumé : Input shaping is an effective means of eliminating vibration in many types of flexible systems. This paper discusses how input shaper performance is affected by a fixed acceleration limit. This type of limit is a common occurrence in many mechanical drive systems because it corresponds to a constant force or torque input. It is shown that some input shapers are not affected by an acceleration limit under certain conditions. A test criterion is developed to determine what types of input shapers are negatively affected, and a method is proposed to compensate for the detrimental effects of the constant acceleration limit. Experimental results from an industrial crane support the main theoretical results. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Input shaping control of double-pendulum bridge crane oscillations / William Singhose in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N° 3 (Mai/Juin 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Titre : Input shaping control of double-pendulum bridge crane oscillations Type de document : texte imprimé Auteurs : William Singhose, Auteur ; Michael Kenison, Auteur ; Dooroo Kim, Auteur Année de publication : 2010 Article en page(s) : 07 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : crane  payloads;  oscillation;  input  shaping  controller Résumé : Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...] [article] Input shaping control of double-pendulum bridge crane oscillations [texte imprimé] / William Singhose, Auteur ; Michael Kenison, Auteur ; Dooroo Kim, Auteur . - 2010 . - 07 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N° 3 (Mai/Juin 2008) . - 07 p. Mots-clés : crane  payloads;  oscillation;  input  shaping  controller Résumé : Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused on single-pendulum dynamics. Several researchers have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. The input shaping controller is designed to have robustness to changes in the two operating frequencies. Experiments performed on a portable bridge crane are used to verify the effectiveness of this method and the robustness of the input shaper. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Mobile/article.aspx?article [...]

Robust negative input shapers for vibration suppression / Joshua Vaughan in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N° 3 (Mai 2009) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N° 3 (Mai 2009) . - 09 p. Titre : Robust negative input shapers for vibration suppression Type de document : texte imprimé Auteurs : Joshua Vaughan, Auteur ; Aika Yano, Auteur ; William Singhose, Auteur Année de publication : 2009 Article en page(s) : 09 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : motion;  impulse  (physics);  desig;  vibration;  vibration  suppression;  errors;  robustness Résumé : Input shaping is a control method that limits motion-induced oscillation in vibratory systems by intelligently shaping the reference command. As with any control method, the robustness of input shaping to parameter variations and modeling errors is an important consideration. For input shaping, there exists a fundamental compromise between robustness to such errors and system rise time. For all types of shapers, greater robustness requires a longer duration shaper, which degrades rise time. However, if a shaper is allowed to contain negative impulses, then the shaper duration may be shortened with only a small cost of robustness and possible high-mode excitation. This paper presents a thorough analysis of the compromise between shaper duration, robustness, and possible high-mode excitation for several negative input-shaping methods. In addition, a formulation for specified negative amplitude, specified insensitivity shapers is presented. These shapers provide a continuous spectrum of solutions for the duration/robustness/high-mode excitation trade-off. Experimental results from a portable bridge crane verify the theoretical predictions. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Robust negative input shapers for vibration suppression [texte imprimé] / Joshua Vaughan, Auteur ; Aika Yano, Auteur ; William Singhose, Auteur . - 2009 . - 09 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N° 3 (Mai 2009) . - 09 p. Mots-clés : motion;  impulse  (physics);  desig;  vibration;  vibration  suppression;  errors;  robustness Résumé : Input shaping is a control method that limits motion-induced oscillation in vibratory systems by intelligently shaping the reference command. As with any control method, the robustness of input shaping to parameter variations and modeling errors is an important consideration. For input shaping, there exists a fundamental compromise between robustness to such errors and system rise time. For all types of shapers, greater robustness requires a longer duration shaper, which degrades rise time. However, if a shaper is allowed to contain negative impulses, then the shaper duration may be shortened with only a small cost of robustness and possible high-mode excitation. This paper presents a thorough analysis of the compromise between shaper duration, robustness, and possible high-mode excitation for several negative input-shaping methods. In addition, a formulation for specified negative amplitude, specified insensitivity shapers is presented. These shapers provide a continuous spectrum of solutions for the duration/robustness/high-mode excitation trade-off. Experimental results from a portable bridge crane verify the theoretical predictions. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]