The Study of Vibration Suppression Control Using Input Shaping Technique with Extended Kalman Filter
碩士 === 國立彰化師範大學 === 機電工程學系 === 106 === The development of machine tools toward high speed and high precision poses a challenge to the designers on the vibration control of mechanical system. This thesis presents a method to suppress vibration by using input shaping functions along with extended Kalm...
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| Format: | Others |
| Language: | zh-TW |
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2018
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| Online Access: | http://ndltd.ncl.edu.tw/handle/pghnt7 |
| Summary: | 碩士 === 國立彰化師範大學 === 機電工程學系 === 106 === The development of machine tools toward high speed and high precision poses a challenge to the designers on the vibration control of mechanical system. This thesis presents a method to suppress vibration by using input shaping functions along with extended Kalman filter. Input shaping is a technique which deploys one or several designed impulses to cancel out the vibration response of a mechanical system. To determine the parameters of input shaper, we assume the vibration of the mechanical system is a simple decaying sinusoidal signal and use extended Kalman filter to estimate its parameters. Simulation results show that all three different input shaping functions with parameters estimated by extended Kalman filter can suppress the vibration successfully. A single axis linear motor is used for experimental test. Among the input shaping functions investigated, one with more impulses demonstrates better reduction in maximum vibration amplitude while the ZV(Zero-Vibration) one shows the shortest settling time. In terms of damping ratio, the ZVDD (Zero-Vibration-Derivative-Derivative) input shaping function provides the maximum damping effect.
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