Comparison of polynomial profiles and input shaping for industrial applications
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Command shaping creates reference commands that reduce residual vibrations in a flexible system. This thesis examines the use of command shaping for flexible system control in three industrial applications: cam-follower systems, sloshing liquids, and cherrypickers. One common type of command shaping is command smoothing which creates a smooth transition between setpoints. A specific type of command smoothing used in cam-follower systems is the polynomial profile. An alternative technique to reduce vibration in flexible systems is input shaping. In this thesis, input-shaped commands are compared to polynomial profiles for applications requiring both vibration suppression and fast motion. Simulation and experimental results show that input shaping is faster than polynomial profiles and provides a simple approach to suppressing residual vibration. Secondly, significant experimental contributions have been made in the area of slosh control. The oscillation of liquids in a container can cause liquid spillage or can cause stability issues, especially in space vehicles. In the past, a number of control techniques have been proposed, but only a few recommend the use of input shaping. This thesis describes the use of command shaping to limit slosh. Results are supported by numerical and experimental testing. Input-shaped commands reduce residual slosh amplitude compared to unshaped commands and polynomial profiles. Input-shaped commands can also accommodate uncertainties and changes in the sloshing frequencies. Lastly, a small-scale cherrypicker was constructed to study the use of input-shaping control on these types of aerial lifts. Cherrypickers have flexible dynamic effects that can cause dangerous and life-threatening situations. To study this class of machines and to provide future students an experimental testbed, several design criteria were established before construction began. The resulting machine achieved most design objectives, including a simple-to-use graphical user interface and accurate state measurements. Robust input-shaping controllers were implemented to limit endpoint vibration. The design of the cherrypicker is discussed and experimental results are reported.