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The conventional input shaping method has indeed demonstrated remarkable effectiveness in mitigating residual vibrations. However, its efficacy diminishes when applied to non-LTI (Linear Time-Invariant) systems due to its reliance on accurate models. Moreover, it suffers from inherent phase lag issues. The limitations posed by these two drawbacks significantly constrain the industrial applicability of input shaping techniques. In response, this paper introduces a novel approach to input shaping by integrating a phase-advanced correction controller. Additionally, we present a fresh perspective on adjusting the parameters of input shaping to strike a balance between resonance suppression effectiveness and phase lag mitigation. This adjustment is informed by a comprehensive analysis of the system’s Bode diagram.

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Input Shaping Based Vibration Suppression Method with Low Phase Lag

  • 会议论文

  • 发表日期：

    2025年

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  • Peng Fang,
  • Zeyu Wei,
  • Ze Wang,
  • Anping Chen,
  • Min Li,
  • Chuxiong Hu,
  • Yu Zhu

摘要

The conventional input shaping method has indeed demonstrated remarkable effectiveness in mitigating residual vibrations. However, its efficacy diminishes when applied to non-LTI (Linear Time-Invariant) systems due to its reliance on accurate models. Moreover, it suffers from inherent phase lag issues. The limitations posed by these two drawbacks significantly constrain the industrial applicability of input shaping techniques. In response, this paper introduces a novel approach to input shaping by integrating a phase-advanced correction controller. Additionally, we present a fresh perspective on adjusting the parameters of input shaping to strike a balance between resonance suppression effectiveness and phase lag mitigation. This adjustment is informed by a comprehensive analysis of the system’s Bode diagram.