Session: VIB-06/MSNDC-11-02

Paper Number: 143421

143421 - A New Frequency-Modulation Input-Shaping Strategy Applied on a Double-Pendulum 

 

any applications in modern manufacturing processes require rest-to-rest maneuvers to transfer and construct devices. Extensive research was focused on addressing the difficulties related to these maneuvers, such as reducing residual vibrations occurring at the end of the motion, reducing maneuver time, and ensuring safety. Numerical and experimental investigations were conducted on several control methods, including open-loop control, feedback control, and a combination of both. In this work, a new frequency modulation technique is used to effectively control oscillations in multi-mode systems using single-mode command-shaping. It is well known that a single-mode input shaper can effectively eliminate residual vibration in a multi-mode system, given that all frequencies within the system are odd multiples of the shaped command frequency. Using this criterion, a new command-shaping strategy specifically designed for multi-mode systems is developed. Our proposed strategy involves convolving a well-defined formula with the original double-step command shaper to modulate the system's frequencies and force them to be odd multiples of the fundamental frequency. The equation of motion of the system is solved, and the natural frequencies of the system are determined analytically as a function of a controller gain. This gain is used to modify the trolley's acceleration. To show the effectiveness of our strategy, two numerical simulations are shown. The results show the effectiveness of the proposed technique.

Presenting Author: Khaled Alhazza Kuwait University

Presenting Author Biography: Khaled Alhazza is a Professor in the Mechanical Engineering Department at Kuwait University. Before joining Kuwait University, professor Alhazza was a researcher at the Kuwait Institute of Scientific Research (KISR). He holds a Ph.D. in Mechanical Engineering from Virginia Tech, Blacksburg, Virginia, USA, and M.Sc. in Mechanical Engineering from Rensselaer Polytechnic Institute (RPI), Troy, New York, USA. Between 2006 and 2007, he continued his research on Delayed Feedback Control at the Center for Intelligent Material Systems and Structures (CIMSS) at Virginia Tech. His main interests are dynamics, structural dynamics, linear and nonlinear control, and nonlinear oscillations.

Authors:

Khaled Alhazza Kuwait University