Robustness analysis of super-robust and adaptive algorithm of input shaping

• Autorzy: Gniadek M.
• Konferencja: Computer Applications in Electrical Engineering (20-21.04.2015 ; Poznań, Polska)
• Języki publikacji: EN

Abstrakty

EN

Many mechanical systems are characterized by flexible joints. One of the main problems in control of this kind of devices are the mechanical oscillations. To avoid the problem of vibrations the input shaping method might be used. For the systems with variable parameters the standard methods of simple input shaping are insufficient and non-robust. More complicated algorithms, exemplary super-robust, can be used, but have negative influence on the regulation time. The alternative method is an adaptive algorithm of input shaping. Both methods are compared on the crane system with variable load mass and line length. The algorithms of system parameter changing are executed with variable speed. The research was made in Matlab/Simulink environment.

Słowa kluczowe

EN

adaptive input shaping; super-robust input shaping; crane positioning; oscillation avoidance

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Poznan University of Technology Academic Journals. Electrical Engineering
• Rocznik: 2015
• Tom: No. 83
• Strony: 195--202
• Opis fizyczny: Bibliogr. 7 poz., rys.

Twórcy

autor

Gniadek M.

• Poznan University of Technology

Bibliografia

• [1] S. Brock and M. Gniadek, “Robust input shaping for two mass system with variable parameters” presented at the ZKwE, Poznań, Poland, 2014.
• [2] M. Gniadek, “Analysis of input shaping robustness for two-mass system.” WPP, 2014.
• [3] M. Gniadek, “Auto tuning of systems with input shaping,” presented at the 16th Mechatronika 2014, Brno, Czech Republic, 2014.
• [4] D. Horla, Sterowanie adaptacyjne. Ćwiczenia laboratoryjne, 3rd ed. Poznań, Poland: Wydawnictwo Politechniki Poznańskiej, 2010.
• [5] J. R. Huey, “The intelligent combination of input shaping and PID feedback control,” 2006.
• [6] Mathworks, “Portal Crane with Predefined Trajectory,” 11-Jan-2015. [Online]. Available: http://www.mathworks.com/help/sl3d/examples/portal-crane-withpredefined-trajectory-and-sound-support.html?refresh=true. [Accessed: 11-Jan-2015].
• [7] W. E. Singhose, “Command generation for flexible system.” MIT, 1997.