Analysis and Mitigation of Dead-Zone Effects on Systems Using Two-Impulse ZV Input Shaping

Abstract

Input shaping is an effective method for reducing oscillatory motion in linear systems. Many physical systems, however, exhibit discontinuous dynamics, such as saturation, rate limiting, backlash, and dead-zone. These hard nonlinearities can degrade the vibration reducing properties of shaped signals. This paper investigates the detrimental effects of dead-zone on a class of input-shaped commands. A mitigation strategy is proposed for reducing these detrimental effects when the value of the deadzone can be estimated. The robustness of this mitigation approach to uncertainties in the dead-zone width is also determined. Theoretical developments are experimentally verified using an industrial 10-ton bridge crane.

Use of Cranes in System Dynamics and Controls Education

“…Three of the final projects from the fall 2005 session of a graduate level controls course were presented at international conferences , Blackburn et al, 2006, Bradley et al, 2006. Class projects from the fall of 2006 section of the course also resulted in quality, published research [Sorensen et al, 2007a, Enes et al, 2007.…”