A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using low-pass Finite Impulse Response (FIR) digital filters. Provided that the cutoff frequency of FIR filters is selected lower than the lowest expected natural frequency of the system and their stop-band is maximized, we show that these filters can be designed to exhibit maximally robust behavior with respect to changes of the system natural frequencies. To perform the proper design of FIR filters for robust vibration suppression, this paper introduces a series of dimensionless performance indexes and the Delay-Error-Order (DEO) curves that represent graphically the delay time introduced by the filter as a function of the remaining residual vibrations, and the filter order. Several classes of FIR filters such as: a) Parks-McClellan; b) Window-based methods (using Chebyshev window); and c) Constrained Least Squares method, are shown to present maximally robust behavior, almost identical to the theoretically predicted. Parallel, they demonstrate excellent vibration suppression while they introduce the minimum possible delay. Further advantages offered by the proposed method, is that no modeling of the flexible system is required, the method can be used in a variety of systems exhibiting vibrations, it is independent of the guidance function and it is simple to implement in practical applications. The results are experimentally verified on a flexible aluminum beam with a significantly varying mass, attached to the end-effector of a robot manipulator. The beam is rotated, using one joint of the manipulator, from an initial to a final position. It is shown that the preconditioned inputs to the flexible system induce very little amount of residual vibrations compared to the inputs with no preconditioning.
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March 2002
Technical Papers
Maximally Robust Input Preconditioning for Residual Vibration Suppression Using Low-Pass FIR Digital Filters
D. Economou, Research Assistant,,
D. Economou, Research Assistant,
Mechanical Design and Control Systems Division, Department of Mechanical Engineering, National Technical University of Athens, Athens, Greece
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C. Mavroidis, Mem. ASME Associate Professor,,
C. Mavroidis, Mem. ASME Associate Professor,
Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Rd., Piscataway, NJ 08854-8058
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I. Antoniadis, Mem. ASME Assistant Professor,,
I. Antoniadis, Mem. ASME Assistant Professor,
Mechanical Design and Control Systems Division, Department of Mechanical Engineering, National Technical University of Athens, Athens, Greece
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C. Lee, Graduate Student,
C. Lee, Graduate Student,
Department of Mechanical and Aerospace Engineering, Rutgers University; Currently, Senior Research Engineer at General Motors
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D. Economou, Research Assistant,
Mechanical Design and Control Systems Division, Department of Mechanical Engineering, National Technical University of Athens, Athens, Greece
C. Mavroidis, Mem. ASME Associate Professor,
Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Rd., Piscataway, NJ 08854-8058
I. Antoniadis, Mem. ASME Assistant Professor,
Mechanical Design and Control Systems Division, Department of Mechanical Engineering, National Technical University of Athens, Athens, Greece
C. Lee, Graduate Student,
Department of Mechanical and Aerospace Engineering, Rutgers University; Currently, Senior Research Engineer at General Motors
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division July 27, 2000. Associate Editor: J. Tu.
J. Dyn. Sys., Meas., Control. Mar 2002, 124(1): 85-97 (13 pages)
Published Online: July 27, 2000
Article history
Received:
July 27, 2000
Citation
Economou, D., Mavroidis, C., Antoniadis, I., and Lee, C. (July 27, 2000). "Maximally Robust Input Preconditioning for Residual Vibration Suppression Using Low-Pass FIR Digital Filters ." ASME. J. Dyn. Sys., Meas., Control. March 2002; 124(1): 85–97. https://doi.org/10.1115/1.1434272
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