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1

Interaction of input shaping and cascade controller for DC drive control

Gniadek M.

Poznan University of Technology Academic Journals. Electrical Engineering

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2015

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No. 83

113--118

EN

Various mechanical systems demand precise positioning control strategies. Cascade control of DC motor driving unit is still one of the most popular structures of automatic positioning. One of the main problems of this structures are the oscillations of the current, speed and position. All of these oscillations negatively effect on the electronics and mechanics live time. The method of input shaping (or in general signal shaping) is used to reduce this problem. The signal shaping was implemented for reference torque, reference speed and reference position signal. The common work of multiple input shapers is also presented. The results were compared with control without of signal shaping. The robustness for parameters change was tested. The research was conducted in MATLAB/Simulink environment.

2

Robust input shaping for two-mass system with variable parameters

Brock S., Gniadek M.

Poznan University of Technology Academic Journals. Electrical Engineering

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2014

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No. 77

209--215

EN

Various mechanical systems are characterized with flexible joints. Exemplary this class of systems are the conveyers motors, the industrial robots and the cranes. The mechanical properties of those objects can be approximated by two-mass system. The paper presents the time-optimal input shaping methods for two-mass system. The control signal has to reach the set value of displacement in the shortest time, without of rising the mechanical oscillations. It was established, that the summary moment of inertia is constant, but division of mass is changing. For this case robustness for wide range of parameters deviations was analyzed. The model included PMSM motor with limited dynamics of current regulation. The research were conducted in Matlab/Simulink enviroment.

3

Analysis of input shaping robustness for two-mass system

Gniadek M.

Computer Applications in Electrical Engineering

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2014

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Vol. 12

309--315

EN

Many mechanical objects are characterized by flexible joint. This systems are represented by cranes, conveyers drives, robotic arms, aircraft turbines and others. Many of this objects can be approximated as multi-mass system or, in the simplest cases, two-mass systems. The two mass system is very convenient in tests because of many reasons. First of all it is easy to model and simulate. Additionally changes in parameters to obtain specific targets are easy to calculate and design. The paper shows three input shapers used to control the two-mass system with variable moments of inertia. It was assumed, that the sum of moments of inertia of both masses is constant. All input shapers are analyzed for robustness. The research was made in Matlab/Simulink environment.

4

Input Shaping and Feedback Control of a Single-Link Flexible Manipulator

Tokhi O. M., Mohamed Z.

Mechanika / Akademia Górniczo-Hutnicza im. St. Staszica

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2003

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T. 22, z. 3

447-454

EN

This paper presents investigations into the development of hybrid control schemes for input tracking and end-point vibration suppression of a single-link flexible manipulator system. A collocated proportional--derivative (PD) control scheme using hub angle and hub velocity feedback is initially developed for control of rigid body motion of the system. This is then extended to incorporate a noncollocated proportional-integral-derivative (PID) controller and input shaping techniques for control of vibration of the system. Simulation results of the response of the manipulator with the controllers are presented in time and frequency domains. The performances of the control schemes are assessed in terms of input tracking and level of vibration reduction in comparison to the PD control scheme.