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Title: A Smooth Command Shaping Technique Applied on Flexible Rotating Beams
Authors: Ghaida Alali 
Supervisor: Prof. Khaled Alhazza
Keywords: Rotating Beams ; Smooth
Issue Date: 2018
Publisher:  Kuwait university - college of graduate studies
Abstract: Command-shaping is recognized as one the most effective feed forward methods and is utilized in various industries, including robotics, crane-payload operations, and nano-positioning technologies. The proposed technique in this work utilizes a smooth sine waveform command-shaping profile, applied to a horizontally rotating flexible beam, to reduce residual vibrations resulting from rest-to-rest maneuvers. The system under investigation is highly nonlinear with infinite modes of vibration. The equation of motion for the system is obtained and discretized. A simpler reduced model for the first three modes of vibration is obtained. Maximum velocity, final displacement and final acceleration time for the system are selectable. A comparison is carried out between the proposed command shaping technique, uncontrolled and double step controlling methods varying angular velocities, displacement and time. Smoothness of the proposed technique is evident for all test cases. Proposed command shaping technique is found to be superior in eliminating residual vibrations in rest-to-rest operations in a rotating flexible beam, at higher velocities and displacements. The first three modes of vibration are considered for all control methods and vibrations are found to be mostly active in the first mode, negligible effects are noticed in the second and third modes.
Appears in Programs:0630 Mechanical Engineering

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