Position Command Shaping for Vibration Suppression Considering Target Position Correction
نویسندگان
چکیده
منابع مشابه
Comparison of Command Shaping Methods for Reducing Residual Vibration
This paper compares command shaping techniques for controlling residual vibration of high-performance machines. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. Because input shaping has similarities to notch filtering, it is compared here with a variety of FIR and IIR filters. Several types of input shapers are pres...
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Again, these quantities will be more sensitive if the moments of inertia are close than if they are widely spaced. For a vehicle with nominal inertias satisfying I1 D 2I3 and I2 D 1:5I3, and the 1% normalized inertia perturbations considered earlier, arctan ° can vary from 31.8 to 38.7 deg, a total range of 6.9 deg. Using Eqs. (13) and (14) together allows the possible variations in absolute se...
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We investigate the characteristics of constant-amplitude input shapers for robust time-optimal maneuvers of exi-ble structures. Trends in the timing of the shaper impulses are shown as a function of the system damping constant and move distance. The insensitivity to modeling errors, time-optimality, amount of vibration caused during maneuvers, and high frequency excitation of these shapers are ...
متن کاملReference Command Shaping Using Specified-Negative-Amplitude Input Shapers for Vibration Reduction
Systems,’’ IEEE Trans. Autom. Control, AC-45~2!, pp. 295–299. @16# Laub, A. J., and Arnold, W. F., 1984, ‘‘Controllability and Observability Criteria for Multivariable Linear Second-Order Models,’’ IEEE Trans. Autom. Control, 29~2!, pp. 163–165. @17# M. Ikeda, 1990, ‘‘Zeros and Their Relevance to Control-@III#; System Structure and Zeros ~in Japanese!,’’ Journal of the Society of Instrument and...
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The performance of mechanical systems is limited by residual oscillations caused by joint fl exibility. Command shaping reduces the residual oscillations at resonance frequencies of the system while achieving fast motions by carefully constructing torque commands to the motors. Two different cost functions are utilized to fi nd the optimal input that minimizes residual oscillations at natural f...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Industry Applications
سال: 2007
ISSN: 0913-6339,1348-8163
DOI: 10.1541/ieejias.127.627