منابع مشابه
Delay-based input shapers in feedback interconnections
A design method for a feedback controller with integrated delay-based command shaper is presented in this paper, based on the Smith predictor concept. PosiCast and related input command shapers (ZV, ZVD, EI etc.) are primarily intended as feedforward filters for reference (set point) signals. Nevertheless, due to their superior effectiveness in suppressing vibrations, there is a good motivation...
متن کاملInput Shapers for Improving the Throughput of Torque-Limited Systems
A technique is presented for designing command profiles for flexible systems whose operational performance is restricted by a limit on actuator effort. To ensure maximum throughput, the command signal is restricted to a series of positive and negative pulses, whose amplitude is equal to the maximum actuator effort (torque limit). The command profiles are further required to move the system to a...
متن کاملVibration Reduction Using Multi-Hump Extra-Insensitive Input Shapers
Input shaping is a method for reducing residual vibrations in computer controlled machines. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with a desired system command to produce a shaped input. The shaped input then becomes the command to the system. Requiring the vibration reduction to be insensitive to modeling errors and system nonlinearities is cri...
متن کاملPolynomial Chaos Based Design of Robust Input Shapers
A probabilistic approach, which exploits the domain and distribution of the uncertain model parameters, has been developed for the design of robust input shapers. Polynomial chaos expansions are used to approximate uncertain system states and cost functions in the stochastic space. Residual energy of the system is used as the cost function to design robust input shapers for precise rest-to-rest...
متن کاملDesign and Implementation of Time-optimal Negative Input Shapers
Input shaping is a method for reducing residual vibrations in computer controlled machines. Vibration is eliminated by convolving a sequence of impulses, an input shaper, with a desired system command to produce a shaped input. The shaped input is then used to drive the system. The input shaper has traditionally contained only positively valued impulses. However, when the impulses are allowed t...
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ژورنال
عنوان ژورنال: Journal of Theoretical and Applied Mechanics
سال: 2016
ISSN: 1429-2955
DOI: 10.15632/jtam-pl.54.2.353