Multiple Input - Multiple Output

http://www.jsira.com/pay-to-do-my-uni-report.html JAGUAR recreates multiple degree of freedom environments in the laboratory. Applications as diverse as shaking a portable computer in 3 axes simultaneously,driving a very heavy structure in one axis while sharing the load over many shakers,or even recreating 6 DOF movement at each of the four wheels of an automobile may now be accomplished with JAGUAR MIMO applications.

Many control systems purporting to be multi-shaker controllers simulate Random and Swept Sine excitation from time data replication. This approach is statistically inaccurate.JAGUAR MIMO produces true Random with one control per actuator or averaged control points per actuator.The same quality of control offered by MISO Random is inherent to MIMO Random control. Adaptive control guarantees rapid equalization and accurate control in the face of non-linear response.It also reduces the time required to achieve full level testing,which reduces the exposure to low level energy for the test article. MIMO Random assures accurate tests while uncoupling the shaker responses from each other and the governing phase.

MIMO Sine,like MIMO Random,controls phase between actuators and between axes.

By maintaining a three dimensional impedance matrix, JAGUAR is always capable of determining the contribution from each shaker to the overall response and properly differentiating for each actuator so that proper, accurate,safe control is assured.The complex issue of singularities is addressed with an elegant solution that permits intricate tests to be performed without having to resort to test segmentation in an attempt to avoid the singularity.

JAGUAR ’s MIMO suite of capabilities includes both short duration Transient Waveform Control (TWC)appropriate for replicating many transient and seismic events and indeterminate duration waveforms (Waveform Replication)typically used to replicate automotive style durability tests.Older style solutions do not update the system H(f)during the output phase of the loop. JAGUAR uses a real-time compensation technique that permits automatic adjustments to the system ID as the measured response changes.This feature ensures optimum safety and accuracy for your test. It also reduces equalization time,speeding the actual test process and minimizing low level exposure for the test article.

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get Published MIMO Reference Documents Written by Spectral Dynamics Engineers


1. Underwood, Marcos A. ; “The Adaptive Control of Multi Exciters using a Frequency Domain Approach,” Ph.D. Dissertation, U.C.L.A. School of Engineering and Applied Sciences. 1993
2. Underwood, Marcos A. ; “Adaptive Control Method for Multiexciter Sine Tests,” United States Patent, No. 5,299,459, April 1994
3. Underwood, Marcos A. ; “Apparatus and Method for Adaptive Closed Loop Control of Shock Testing System,” United States Patent, No. 5,517,426, May 1996
4. Underwood, Marcos A.; “Applications of Computers to Shock and Vibration,” Chapter 27 of Shock and Vibration Handbook. 5th ed., Edited by Harris, C.M., and Piersol, A.G., 2001, New York, McGraw-Hill.
5. Keller, T., and Underwood, M. A.: “An Application of MIMO Techniques to Satellite Testing,” Proceedings - Institute of Environmental Sciences and Technology, April 2001.
6. Underwood, Marcos A. and Keller, Tony; “Recent System Developments for Multi-Actuator Vibration Control”; Sound & Vibration Magazine, October, 2001.
7. Underwood, Marcos. A.; “Multi-exciter Testing Applications: Theory and Practice,” Proceedings - Institute of Environmental Sciences and Technology, ESTECH2002, May 1, 2002, Anaheim, California.
8. Underwood, Marcos A. and Keller, Tony; “Rectangular Control of Multi-Shaker Systems; Theory and Some Practical Results”. Proceedings of the Institute of Environmental Sciences and Technology, ESTECH2003, May 19, 2003, Phoenix, Arizona, USA.
9. Underwood, M. A. and Keller, T.; “Applying Coordinate Transformations to Multi Degree of Freedom Shaker Control,” Proceedings of the 74th Shock & Vibration Symposium, October, 2003, San Diego, California.
10. Keller T.; “Some Aspects of Multi-Shaker/Multi-Axis MIMO”; Proceedings, 13th Japan Group Meeting on Human Response to Vibration, Osaka, Japan, August, 2005.
11. Underwood, M. A. and Keller, T.; “Understanding and using the Spectral Density Matrix,” Proceedings of the 76th Shock & Vibration Symposium, October 2005, Destin, Florida.
12. Maeda, Setsuo and Keller, Tony; “Multi-Axis Hand/Arm Vibration Testing and Simulation at the Japan National Institute of Occupational Safety and Health;” First American Conference on Human Vibration, June 5-7, 2006, Morgantown, West Virginia, USA.
13. Keller Tony; Maeda, Setsuo and Shibata, Nobuyuki; “A Rationale’ for 3-Axis Hand/Arm and Whole Body Vibration Simulation”, 14th Japan Conference on Human Response to Vibration, Kawasaki, Japan, August 2-4, 2006.
14. Underwood, M.A. and Keller T; “Using the Spectral Density Matrix to Determine Ordinary, Partial and Multiple Coherence” Proceedings of the 77th Shock & Vibration Symposium, October, 2006, Monterey, California.
15. Underwood, Marcos A.; “A new Approach to System Identification, using a Digitally Swept Multi Exciter Sine Control System,” Acoustical Society of America, 1989 Proceedings, Syracuse, New York.
16. Underwood, Marcos A.; “Applications of Computers to Shock and Vibration,” Chapter 27 of Shock and Vibration Handbook. 5th ed., Edited by Harris, C.M., and Piersol, A.G., 2001, New York, McGraw-Hill.
17. Keller, Tony; Maeda, Setsuo and Shibata, Nobuyuki; “Hand-Arm Vibration Test Bench”; Proceedings of the 11th International Conference on Hand Arm Vibration, Bologna, Italy; June 3-7, 2007.
18. Underwood, Marcos and Keller, Tony; “On Using Response Limiting Control During Multi-Shaker Testing”; Proceedings of the 78th Shock & Vibration Symposium, November 4th – 8th, 2007; Philadelphia, Pennsylvania, USA.
19. Ayres, Russell; “Creating Coordinate Transformation Matrices”; Proceedings of the 78th Shock & Vibration Symposium, November 4th – 8th, 2007; Philadelphia, Pennsylvania, USA.
20. Underwood, Marcos and Keller, Tony; “Some Applications for the Testing of Civil Structures using Multiple Shaker Excitation Techniques”; Proceedings of the 26th International Modal Analysis Conference, February 4th – 7th, 2008, Orlando, Florida, USA.
21. Underwood, Marcos A.; Ayres, Russell and Keller, Tony; “Creating and Controlling Unusual Waveforms for Multi-Shaker Testing”; Proceedings of the 79th Shock & Vibration Symposium, October 26th – 30th, 2008; Orlando, Florida, USA.
22. Underwood, Marcos A.; Ayres, Russell and Keller, Tony; “Filling in the MIMO Matrix; Using Measured Data to run a Multi-Actuator/Multi-Axis Vibration Test”. Presented at the 80th Shock & Vibration Symposium, October 26th – 29th , 2009 San Diego, California, USA.
23. Underwood, Marcos A., Ayres, Russell and Keller, Tony; “Considerations in using Field Data for Multi-shaker Time Waveform Replication Testing”. Presented at the 81st Shock & Vibration Symposium, October 24th – 28th , 2010, Orlando, Florida, USA.
24. Hale, Michael and Underwood, Marcos A.; “MIMO Testing Methodologies”; Proceedings of the 79th Shock & Vibration Symposium, October 26th – 30th, 2008; Orlando, Florida, USA.
25. Ayres, Russell; “Motion Control in Multiple Dimensions”; A Tutorial presented at the 77th Shock & Vibration Symposium, October, 2006; Monterey, California, USA.
26. Underwood, Marcos A.; Ayres, Russell and Keller, Tony; “Creating MDOF Test Formulations While Maintaining Positive Definite Characteristics”; Presented at the 82nd Shock & Vibration Symposium, October 30th – November 3rd, 2011 Baltimore, Maryland, USA.
27. Ayres, Russell; Underwood, Marcos A. and Keller, Tony; “On Controlling 6DOF Electro-Dynamic Tables”; Presented at the 83rd Shock & Vibration Symposium, November 4th - 8th, 2012 New Orleans, Louisiana, USA. Also Published in the October, 2013 issue of Sound & Vibration Magazine.