Modeling Analysis for System Parameters of a Vertical Input Shaping Control Apparatus*

摘要

Recently, various input shaping logics have been developed to improve the performance of residual vibration suppression, and thus a benchmark device to compare the performance objectively is needed. This paper presents a detailed modeling analysis for system parameters of the benchmark apparatus developed recently for input shaping control in our laboratory. Real-time sampling performance using Linux is evaluated and verified. A reasonably accurate dynamic model of the system is obtained through several experimental and simulation studies, and an identification software tool as well. The obtained model is demonstrated and verified through applying a ZVD shaping control to the system.