Input Shaping Reduces The Residual Vibration Of Little-Friction System

The system supported by little-friction such as roll guide, hydrostatic guide, air support guide, aerostatic guide, magnetic suspension guide, etc were called little-friction systems. Residual vibration was induced when little-friction system changed the motion state, which made the control system instability, depressed the work efficiency and impacted the system's precision. In this dissertation, input shaping was used to reduce the vibration of little-friction system, but the configuration of the system was never changed.First of all, the article introduced the basic principle and design method of input shaping. The basic principle of Magnetic suspension feeding system was analyzed as well as mathematic model was founded, according to transfer functions, the Zero Vibration (ZV), Zero Vibration and Derivative (ZVD) and Extra Insensitivity (EI) shapers were designed. After using the SIMULINK simulation module, simulation model of ZV, ZVD and EI control for the Magnetic suspension feeding system is constructed. Basing on those simulation models, simulation tests were carried out, the results demonstrated that the residual vibration of Magnetic suspension feeding system was compressed by input shaping.In order to validate that the residual vibration of little-friction system was reduced by input shaping, experiment stage was built using the liner pendulum, and control scheme was designed. Based on Windows, the experimental control program was developed with VC++ 6.0 language. The mathematic model of the liner pendulum was established with Newton analytical method, the ZV, ZVD and EI shapers were designed according to transfer function, and applied to compress the residual vibration induced by point-to-point movement, to reduce the settling time of reaching stabilization velocity. The results of experimental tests demonstrated that under bang-bang move mode, input shaping could not only compress the residual vibration induced by point-to-point movement, at the same time assure that movement time was optimal; but also reduce the settling time of system reached stabilization velocity contrasted with unshaped. The article discussed the action time of input shaper through some experiments.