NUMERICAL SIMULATION AND EXPERIMENTAL VALIDATION OF THE VIBRATION SUPPRESSION CONTROL BY USING INPUT SHAPING TECHNIQUE WITH EXTENDED KALMAN FILTER

摘要

The development of high-speed and high-precision machine tools is a challenge for designers because of the difficulties associated with the vibration control of mechanical systems. This study proposed a method to suppress such vibration by using input shaping functions with an extended Kalman filter (EKF). Input shaping is a technique that deploys one or several designed impulses to eliminate the vibration response of a mechanical system. To determine the parameters of an input shaper, the vibration of the mechanical system was assumed to be a simple, exponentially decaying sinusoidal signal. The EKF was used to estimate signal parameters, namely frequency and damping factors. The simulation and experimental results indicate that three input shaping functions with parameters can suppress vibration. Of the studied input shaping functions, a function with more impulses exhibited improved reduction in maximum vibration amplitude, whereas a zero vibration function exhibited the shortest settling time. A zero-voltage-derivative-derivative input shaping function provided the maximum damping effect.