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Impulse Vector
An impulse vector, also known as Kang vector, is a mathematical tool used to graphically design and analyze Input shaping, input shapers that can suppress residual vibration. The impulse vector can be applied to both Damping, undamped and underdamped systems, as well as to both positive and negative Dirac delta function, impulses in a unified manner. The impulse vector makes it easy to obtain impulse time and magnitude of the input shaper graphically. A vector concept for an input shaper was first introduced by W. Singhose for undamped systems with positive impulses. Building on this idea, C.-G. Kang introduced the impulse vector (or Kang vector) to generalize Singhose's idea to undamped and underdamped systems with positive and negative impulses. Definition For a vibratory second-order system \omega_n^2 /(s^2 + 2 \zeta \omega_n + \omega_n^2 ) with undamped natural frequency \omega_n and damping ratio \zeta, the magnitude I_i and angle \theta_i of an impulse vector (or Kang v ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Input Shaping
In control theory, input shaping is an open-loop control technique for reducing vibrations in computer-controlled machines. The method works by creating a command signal that cancels its own vibration. That is, a vibration excited by previous parts of the command signal is cancelled by vibration excited by latter parts of the command. Input shaping is implemented by convolving a sequence of impulses, known as an input shaper, with any arbitrary command. The shaped command that results from the convolution is then used to drive the system. If the impulses in the shaper are chosen correctly, then the shaped command will excite less residual vibration than the unshaped command. The amplitudes and time locations of the impulses are obtained from the system's natural frequencies and damping ratio Damping is an influence within or upon an oscillatory system that has the effect of reducing or preventing its oscillation. In physical systems, damping is produced by processes ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
