Position Command Shaping for Vibration Suppression Considering Target Position Correction

Abstract

This paper presents a command shaping technique based on a minimum jerk control approach considering a target position correction during motion, for the fast and precise positioning in vibratory mechatronic systems. The positioning controller is designed by a 2-degrees-of-freedom control: a feedback compensator is synthesized by H_∞ control design to ensure the robust stability, while a feedforward compensator suppresses the vibration in response based on a coprime factorization expression of the plant mechanism. The command shaping, on the other hand, eliminates the corresponding vibration components of the primary and secondary modes in the position command, where the continuity of jerk component in the command can be ensured against the target position correction. The effectiveness of the proposed shaping technique has been verified by experiments using a table drive system on machine stand.