Analysis of input shaping and PID-controller interaction structures for two-mass systems

Many mechanical systems are characterized by flexible joints. These kinds of systems are often exposed for mechanical oscillations. These objects are represented by cranes, long manipulator's arms or conveyors drives. All these objects can be approximated by multi-mass systems. To avoid the oscillations the input shaper method can be used. The main control strategies are usually based on PID controllers. The paper shows possible structures of interaction between PID controllers and input shaping.