Robust three-impulse sequence input shaper design
SS Gürleyük, S. Cinal
article (Uluslararası, Hakemli) | Yazar(lar): SS Gürleyük, S. Cinal | Yıl: 2007 | Dergi/Kurum: JOURNAL OF VIBRATION AND CONTROL | İndeks: WOS.SCI | DOI: 10.1177/1077546307080012 | Anahtar Kelimeler: input shaping, robust control, vibration damping, tubular step motor — Özet: This article presents an unsophisticated met
This article presents an unsophisticated method for tuning the amplitudes and time locations of a three-impulse sequence input shaper. The method helps to solve the insufficient constraint equations directly. A wide range of shapers can be obtained using the proposed method, including Zero Vibration (ZV), Zero Vibration Derivative (ZVD) and Extra Insensitive (EI) or Specified Insensitive ( SI) shapers. The impulse amplitudes can be produced without additional derivative constraints or an initial penalty of residual vibration. It is also shown that a more robust input shaper can be obtained using the new algorithm. Experimental results from a step motor are used to support the numerical solutions.