Vibration Suppression in a Two-Mass Drive System Using Three Input Shaping - Comparative Study

Input shapers have widely used to suppress mechanical oscillations in high-precision positioning systems, and the commonly used are zero vibration (ZV) input shaper, zero vibration and derivative (ZVD), and extra-insensitive (EI). The current research only examines the performance of specified input shapers, lacking the applicable conditions for each input shape. How to choose the right input shaper for a specific system has not been solved yet. In this paper, for motor drive systems with flexible connections, firstly, the characteristics of three input shapers are analyzed using the algebraic method and the amplitude-frequency characteristic method. Then, the conditions for the existence of the intersection frequencies of the three input shapers are investigated and the respective intersection frequencies are calculated. Finally, the intersection frequency is used as the dividing point to divide the whole frequency domain band into different intervals, and the applicable conditions of each input shaper are studied for three aspects: system oscillation frequency identification accuracy, oscillation suppression requirement and response speed. The simulation results verify the performance of the three input shapers and the applicable conditions analyzed.