Optimized re-entry input shapers

• Autorzy: Beneš P. , Valášek M.

Identyfikatory

DOI

10.15632/jtam-pl.54.2.353

• Języki publikacji: EN

Abstrakty

EN

The paper deals with the design of optimized input shapers for non-vibrational control of flexible mechatronic systems. The described method is based on a combination of advantages from two approaches – precomputed control curves and on-line shapers. The strategy has two steps. Primarily, an optimized precomputed curve is found as a solution to the point-to-point control problem with respect to any requested optimization goals. Then it is transformed into an on-line shaper with the re-entry property. The resulting shaper transforms any arbitrary input signal to a non-vibrational one. In contrast to other techniques, the shaper length is not determined from the system natural frequency. The shaper can be easily modified with respect to position, velocity, acceleration or jerk control. The theoretical results are verified by experiments using a laboratory crane.

Słowa kluczowe

EN

input shaper; command shaper; residual vibrations; re-entry

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2016
• Tom: Vol. 54 nr 2
• Strony: 353--368
• Opis fizyczny: Bibliogr. 28 poz., rys.

Twórcy

autor

Beneš P.

• Czech Technical University in Prague, Faculty of Mechanical Engineering Dept. of Mechanics, Biomechanics and Mechatronics, Prague, Czech Republic

autor

Valášek M.

• Czech Technical University in Prague, Faculty of Mechanical Engineering Dept. of Mechanics, Biomechanics and Mechatronics, Prague, Czech Republic

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.