DERIVATION AND PROPERTIES OF CONVOLVED AND SIMULTANEOUS TWO-MODE INPUT SHAPERS

摘要

Input shaping is a method of reducing residual vibrations in computer controlled machines. Vibration is eliminated by convolving a sequence of impulses with a desired system command to produce a shaped input that is then used to command the system. Techniques for designing input shapers for two-mode systems are presented. The properties of the various shapers are compared as a function of the mode ratio. Experimental data demonstrate key results.