Commandless Input Shaping Technique

Abstract

Although IST possesses the capability to effectively suppress residual vibrations, it lacks the ability to suppress vibrations caused by external disturbances. In the following paper, we have proposed the method of Commandless IST(C1ST) to overcome this weak point. According to CIST, when a vibration is detected, the impulse is generated by a control input which in turn triggers a reverse vibration to negate the original vibration, resulting in the complete elimination of the original vibration. The general idea and design methods of CIST are provided and the effectiveness of CIST is confirmed through computer simulations. Also, according to experiments conducted to suppress vibrations arising when unloading the hydraulic telescopic handler, it was found that by applying CIST, the level of vibrations was reduced by over 75%.