William Singhose

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The conventional unity magnitude zero vibration (UM-ZV) command shaping technique is an effective means for eliminating vibration in linear mechanical systems with on-off actuators. This paper discusses how the UM-ZV command shaping technique is affected by a common nonlinearity: nonsymmetrical accelerating and braking dynamics. Two approaches for creating(More)
Input shaping is a vibration control technique that operates by filtering reference commands so that the modified (or shaped) command does not excite the system's natural frequencies. Usually, input shaping is limited to a filtering operation outside of any feedback loops. However, this implementation prevents input shaping from effecting some vital control(More)
This paper presents techniques for the reduction of vibration in high-rise elevator passenger cabs. Reduction in cab vibration improves ride comfort and enables the use of more aggressive motion profiles thereby shortening travel times. Vibration reduction is accomplished by input shaping the elevator commands in a scheduling algorithm based on position. To(More)
Command signals that can move a flexible system without residual vibration and also limit the transient deflection are very useful, but difficult to create. Historically, these types of commands have been generated via numerical optimization. A method for analytically creating deflection-limiting commands is described and evaluated. Characteristics of the(More)
—Input shaping is combined with a proportional plus derivative controller to control a solder machine. Input shaping is applied to reduce the vibrations of three different modes of the system, including the mode from the controller. The results are further improved by including the effect of coulomb friction when designing the shaper. Experimental results(More)
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