The Research On Residual Vibration Suppression Using Input Shapers

Input shaping technique suppresses residual vibration through a open-looped input modulate method, therefore used widely in the high-accuracy fast navigation systems.The thesis introduces the basic conception of input shaper at first, and explains the thoughts and the steps of the zero-pole placement, the impulse response, sensitivity curve and simultaneous equations, which are used to design and analyze input shapers in detail, then states the inherent essence of input shapers suppressing residual vibration.Two new methods-Complex Number algorithm and Damped Vector Diagram are presented in the thesis, Complex Number algorithm shows the pulses of input shaper with the complex numbers according to the residual vibration of system, it turns the operation of input shaper into mathematical operation, deriving out the expression formulae of ZV and ZVD input shapers, and analyzes their response speed and robustness . Damped Vector Diagram applies the vector diagram of no-damped system to damped system, it offers a kind of diagram analysis and design method. It is used simply and conveniently ,and can analyze the robustness of input shapers directly.One-hump and multi-hump Extra-Insensitive input shapers and negative input shapers are researched in detail, their robustness are improved with the increase of time location, the price of the increased robustness is an increase in rise time.Two methods of designing of input shapers for multi-mode systems are researched in this thesis. The properties of the convolved and direct shapers, such as the time delay, numbers of the impulses and robustness are compared .Many simulations on the undamped and damped spring-mass system show that input shapers designed with the new methods in the thesis can reduce the expected level of residual vibration.