가상모드를 이용한 비감쇠 진동계 입력성형기 설계 방법

Abstract

Input shaping is an efficient tool to eliminate transient and residual vibration caused by motion of mechanical systems. However, the rise time of the systems tends to increase due to the presence of input shapers. This paper is concerned with the rise time reduction when using input shaping. To this end, this paper proposes an input shaper design method for an undamped single mode vibration system using a virtual mode, which is not an actual mode but reflected in the design process. The essence of the proposed method is to design a three-impulse input shaper as if a single mode system has two modes: one actual mode and one virtual mode. The natural frequency of the virtual mode is a design parameter to change the rise time of the system. This paper discusses the performance of the proposed input shapers by simulation.