Journal of Theoretical
and Applied Mechanics

54, 2, pp. 353-368, Warsaw 2016
DOI: 10.15632/jtam-pl.54.2.353

Optimized re-entry input shapers

Petr Beneš, Michael Valášek
The paper deals with the design of optimized input shapers for non-vibrational control of flexible mechatronic systems. The described method is based on a combination of advantages from two approaches – precomputed control curves and on-line shapers. The strategy has two
steps. Primarily, an optimized precomputed curve is found as a solution to the point-to-point control problem with respect to any requested optimization goals. Then it is transformed into an on-line shaper with the re-entry property. The resulting shaper transforms any arbitrary
input signal to a non-vibrational one. In contrast to other techniques, the shaper length is not determined from the system natural frequency. The shaper can be easily modified with respect to position, velocity, acceleration or jerk control. The theoretical results are verified by experiments using a laboratory crane.
Keywords: input shaper, command shaper, residual vibrations, re-entry