A New Command Shaper Design for Residual Vibration Reduction in Flexible Systems Using Artificial Mode Constraints

Abstract—Positioning systems often exhibit vibration resulting from changes in speed and direction. Command shaping efficiently reduces residual vibration by generating appropriately shaped reference commands for positioning systems. However, the presence of command shapers increases the rise time of the systems. This paper proposes a new command-shaper design method for a single-mode system. In addition to suppressing the dominant single mode, this method also constrains vibration at an artificial high mode. This approach can shorten the command shaper duration, or the rise time of the system. The artificial mode frequencies are design variables used to adjust the rise time of the system. The proposed design scheme is illustrated with a simulation example.