Combining Input Shaping and Adaptive Model-Following Control for Vibration Suppression
Jinhua She*,**,***, Lulu Wu*,**, and Zhen-Tao Liu*,**,
*School of Automation, China University of Geosciences
No.388 Lumo Road, Wuhan, Hubei 430074, China
**Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
No.388 Lumo Road, Wuhan, Hubei 430074, China
***School of Engineering, Tokyo University of Technology
1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan
Vibration suppression in servo systems is significant in high-precision motion control. This paper describes a vibration-suppression method based on input shaping and adaptive model-following control. First, a zero vibration input shaper is used to suppress the vibration caused by an elastic load to obtain an ideal position output. Then, a configuration that combines input shaping with model-following control is developed to suppress the vibration caused by changes of system parameters. Finally, analyzing the percentage residual vibration reveals that it is effective to employ the sum of squared position error as a criterion. Additionally, a golden-section search is used to adjust the parameters of a compensator in an online fashion to adapt to the changes in the vibration frequency. A comparison with other input shaper methods shows the effectiveness and superiority of the developed method.
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