Yazar "Üşenti, Hakan" seçeneğine göre listele

Listeleniyor 1 - 2 / 2
  • Küçük Resim
    Öğe
    Improved three-step input shaping control of crane system
    (2008) Gürleyük, Sırrı Sunay; Bahadır, Özgür; Türkkan, Yunus; Üşenti, Hakan
    Shaping command input is performed for reducing residual vibrations in motion control of dynamical structures. System inputs are changed so that the structure reaches to planned motion in minimum duration without residual oscillation. Shaping input is obtained by convolving desired input with an impulse sequence. Main goal of the input shaper design is to define impulse amplitudes and their instants from the dynamical behavior of uncontrolled response. Zero Vibration (ZV), Zero Vibration and Derivative (ZVD) and Extra Insensitive (EI) are the most common shaper types. Improving the robustness respect to modeling errors requires more impulses. These increase control duration and make difficult to solve constraint equations directly. Required parameters can be determined from the derivation of constraint equations. This paper presents Three-Step (TS) input shaping technique. A solution space for three-impulse shaping is given including both positive and negative shapers. It is shown here that ZVD and EI shapers are the special solution points in TS shaping space. The duration of the shaper less or more than ZVD's can be obtained in the defined space. Some of the new shapers give better robustness than ZVD. Experimental results from a prototype planar crane system are used to support the numerical results.
  • Küçük Resim
    Öğe
    Performance analysis of three step positive input shaping
    (World Scientific And Engineering Acad And Soc, 2008) Gürleyük, Sırrı Sunay; Bahadır, Özgür; Türkkan, Yunus; Üşenti, Hakan
    Input shaping is a residual vibration reducing technique for flexible structures. The desired command is convolved by a sequence of impulses to generate an input shaper so that the system reaches the set point in a minimum duration. Zero Vibration (ZV) shaper is the first form of input shaping technique. Zero Vibration and Derivative (ZVD) and Extra Insensitive (EI) are the most preferred shapers. These shapers are developed to improve the robustness respect to modeling errors. Solution of the parameters requires the derivation of constraint equations. Therefore, these shapers can only be used for linear systems. This paper presents that ZVD and El shapers are the special solutions of Three-Step (TS) input shaping space. By using TS technique, infinite number of three impulse shaper solution can be generated for both positive and negative impulse amplitudes including ZVD and El. The duration of the shaper is between ZV and ZVD. Some of them are better in robustness somewhat. Analyses and results of some specific points are given for the time-robustness compromise.