Input shaping accomplishes vibration reduction by slightly increasing the acceleration and deceleration periods of the command. The increase in the deceleration period can lead to system overshoot. This paper presents a new class of reduced-overtravel input shapers that are designed to reduce shaper-induced overtravel from human-operator commands. During the development of these new shapers, an expression for shaper-induced overtravel is introduced. This expression is used as an additional constraint in the input-shaper design process to generate the reduced-overtravel shapers. Experiments from a portable bridge crane verify the theoretical predictions of improved performance. Results from a study of eight industrial bridge crane operators indicate that utilizing the new reduced-overtravel input shapers dramatically reduces task completion time, while also improving positioning accuracy.
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January 2011
Research Papers
Reducing Overshoot in Human-Operated Flexible Systems
Joshua Vaughan,
Joshua Vaughan
George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
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Paul Jurek,
Paul Jurek
George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
Search for other works by this author on:
William Singhose
William Singhose
George W. Woodruff School of Mechanical Engineering,
e-mail: singhose@gatech.edu
Georgia Institute of Technology
, Atlanta, GA 30332-0405
Search for other works by this author on:
Joshua Vaughan
George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
Paul Jurek
George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
William Singhose
George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405e-mail: singhose@gatech.edu
J. Dyn. Sys., Meas., Control. Jan 2011, 133(1): 011010 (10 pages)
Published Online: December 22, 2010
Article history
Received:
August 7, 2009
Revised:
March 1, 2010
Online:
December 22, 2010
Published:
December 22, 2010
Citation
Vaughan, J., Jurek, P., and Singhose, W. (December 22, 2010). "Reducing Overshoot in Human-Operated Flexible Systems." ASME. J. Dyn. Sys., Meas., Control. January 2011; 133(1): 011010. https://doi.org/10.1115/1.4002074
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