Supression of Vibration of AC Servo System Based on Input Shaping Technique

Due to the elastic transmission device, when the servo system is positioned at a high speed, it is easy to cause the end vibration. The reason of the end vibration and how to suppress the end vibration are very important. This paper introduces a method of input shaper to suppress the end vibration. Then, the effects of the three input shapers ZV (Zero-Vibration), ZVD (Zero-Vibration-Derivative) and EI (Extra-Insensitive) are compared, as well as the time lag and robustness. Simulations show that the proposed algorithms effectively suppress the end vibration. Finally, the effectiveness of the algorithms is verified by experiment.