Optimal unity-magnitude input shaper duration analysis |
| |
Authors: | Sırrı Sunay Gürleyük |
| |
Institution: | (1) Electric–Electronic Engineering Department, Zonguldak Karaelmas University, 67100 Zonguldak, Turkey |
| |
Abstract: | Command profiles are required to move a dynamical system from rest to rest without residual vibration in a minimum time. The unity-magnitude (UM) input shaper is one of the faster input shaping techniques. However, analytical solution of the impulse time locations is impossible due to the dependent residual vibration constraint equations. Many researchers solve these by using curve fitting. In this paper, the characteristics of the UM shaping coefficients as a function of system parameters are investigated. An analysis procedure to obtain UM input shaper impulse time sequences is presented. Finally, the proposed technique is compared to the zero vibration (ZV) shaper in both response and robustness to modeling error. |
| |
Keywords: | Input shaper Unity magnitude Vibration damping Robust control |
本文献已被 SpringerLink 等数据库收录! |
|