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New Damped-Jerk trajectory for vibration reduction

Article dans une revue avec comité de lecture
Author
ccBEAREE, Richard
178374 Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM]

URI
http://hdl.handle.net/10985/8532
DOI
10.1016/j.conengprac.2014.03.010
Date
2014
Journal
Control Engineering Practice

Abstract

This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an undamped flexible mode is clearly explained using an equivalent continuous filter representation and the input shaping formalism. This motivates the design of a new jerk-shaped profile, named Damped-Jerk profile, to extend the previous result to the more common case of underdamped systems. Both simulations and experimental results demonstrate the effectiveness of the proposed Damped-Jerk profile to reduce damped vibration.

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