Command Shaping for Flexible Systems with Constant Acceleration

Input shaping is an effective means of eliminating vibration in many types of flexible systems. This paper discusses how input shaper performance is affected by systems with a fixed acceleration limit, a common occurrence in many mechanical drive systems. It is shown that some input shapers are not affected by an acceleration limit under certain conditions. A test criteria is developed to determine what type of input shapers are negatively affected and a method is proposed to compensate for the detrimental effects of the constant acceleration limit. Experimental results from an industrial crane support the main theoretical results.