有限元素分析於撓性長距離移動系統之輸入修正設計與應用

Input shaping is an effective method for suppressing motion-induced vibration to enhance the motion performance in point-to-point maneuverers. However, the success of shaper design depends on the accuracy of system dynamics but such an approach could not yield effective dynamic models with sufficient accuracy for systems with complex boundary conditions, motion constraints, and structural behaviors. In this work, it is proposed to hire finite element dynamic simulation directly in both trajectory planning and input shaping design. Two flexible motion systems are designed for serving as the test beds to ensure multiple mode excitations during transportation for evaluating the effectiveness in finite element simulation. The results confirm the effectiveness of using input shaping in vibration suppression and both the experimental and the simulation results agree to each other very well. Several case studies using finite element simulation are then followed for elucidating the possible future applications of the proposed approach in real engineering designs. It is believed that the proposed shaper design approach by hiring finite element simulation can handle many ad hoc issues such as nonholonomic constraints, time-varying and nonlinear structural dynamics, and possible power and bandwidth limitation in actuators.