Reducing Vibration Of A Flexible Arm In Die Bonder Based On Input Shaping

Input shaping is a method of reducing residual vibrations of low damped flexible system. Due to its simplicity, effectiveness, and robust to modeling uncertain, this technique has been widely used in high-speed and high-precision motion controlled positioning machines.This dissertation firstly introduces the basic theory of input shaping, and explains the methods and steps to design input shaper particularly, from which gives the inherent essence to suppress the residual vibration of flexible system. By simulation and comparison, the research of the robustness of the input shaper is given then. How the error of the natural frequency and damping will perform the response of the system will be discussed herein. The results supply greatly references for the application lately. Finally, input shaping was used in the control of the flexible operation-arm, which has the residual vibration problem when moving in high speed in die bonder system.Considering the time delay property of input shaper, and the shorter control time circle and accuracy in die bonder, a new method based on offline derivative profile was used here. The vibration was cancelled by input shaping and the precision was asserted by PID feedback control separately. However, this combination moves the operation-arm with high-speed and improves the quality of the production.