Improved three-step input shaping control of crane system
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Dosyalar
Tarih
2008
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
Anahtar Kelimeler
Command generation; Input shaping; Planar crane; Robustness; Three-step shaper; Vibration
Kaynak
WSEAS Transactions on Systems
WoS Q Değeri
Scopus Q Değeri
Q4
Cilt
7
Sayı
6
