Input shaping is a filtering method used for reducing oscillation in flexible systems. A class of these filters, called negative input shapers, has been developed to improve system rise-time beyond what is achievable using conventional input-shaping filters. However, negative input shapers can cause overcurrenting and subsequent system oscillation, when used with certain reference commands. This class of reference commands is examined in the context of the command space. The command space represents the space of all possible signals that may be issued to a system. It provides insight into how overcurrenting occurs, how overcurrenting can be mitigated, and the influence that mitigation strategies have on system performance. Two overcurrenting mitigation strategies are presented. The operational effects of overcurrenting and overcurrenting mitigation are evaluated using a three-dimensional simulation of a bridge crane, and experimental results from a industrial bridge crane.
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e-mail: sorensen@gatech.edu
e-mail: singhose@gatech.edu
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November 2008
Research Papers
Negative Input Shaping: Eliminating Overcurrenting and Maximizing the Command Space
Khalid L. Sorensen,
Khalid L. Sorensen
Woodruff School of Mechanical Engineering,
e-mail: sorensen@gatech.edu
Georgia Institute of Technology
, Atlanta, GA 30332
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Aayush Daftari,
Aayush Daftari
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332
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William E. Singhose,
William E. Singhose
Woodruff School of Mechanical Engineering,
e-mail: singhose@gatech.edu
Georgia Institute of Technology
, Atlanta, GA 30332
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Keith Hekman
Keith Hekman
Department of Engineering,
Calvin College
, Grand Rapids, MI 49546
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Khalid L. Sorensen
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332e-mail: sorensen@gatech.edu
Aayush Daftari
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332
William E. Singhose
Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332e-mail: singhose@gatech.edu
Keith Hekman
Department of Engineering,
Calvin College
, Grand Rapids, MI 49546J. Dyn. Sys., Meas., Control. Nov 2008, 130(6): 061012 (7 pages)
Published Online: October 10, 2008
Article history
Received:
October 12, 2007
Revised:
May 11, 2008
Published:
October 10, 2008
Citation
Sorensen, K. L., Daftari, A., Singhose, W. E., and Hekman, K. (October 10, 2008). "Negative Input Shaping: Eliminating Overcurrenting and Maximizing the Command Space." ASME. J. Dyn. Sys., Meas., Control. November 2008; 130(6): 061012. https://doi.org/10.1115/1.2957646
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