Comparison of Robust Input Shapers for Elimination of Residual Vibrations

Çağlar Conker; Hakan Yavuz; Sadettin Kapucu; Mustafa Kaan Baltacioğlu; Hüseyi̇n Turan Arat; Alper Burgaç

doi:10.4028/www.scientific.net/AMM.490-491.997

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 490-491Comparison of Robust Input Shapers for Elimination...

Comparison of Robust Input Shapers for Elimination of Residual Vibrations

Abstract:

Input shaping is a feedforward control technique for improving the settling time and positioning accuracy, while minimizing residual vibrations. Shaped command profiles are generated by convolving a sequence of impulses. To design an input shaping controller, estimates of the system natural frequency and damping ratio are required. However, real systems cannot be modeled exactly, making the robustness to modeling errors an important consideration. Many robust input shapers have been developed, but robust shapers typically have longer durations that slow the system response. This creates a compromise between shaper robustness and rise time. This paper analyses the compromise between shaper duration and robustness for several robust input shapers

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Periodical:

Applied Mechanics and Materials (Volumes 490-491)

Pages:

997-1002

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.490-491.997

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Cite this paper

Online since:

January 2014

Authors:

Çağlar Conker, Hakan Yavuz, Sadettin Kapucu, Mustafa Kaan Baltacioğlu, Hüseyi̇n Turan Arat, Alper Burgaç

Keywords:

Command Pre-Shaping, Flexible Mechanical System, Input Shaping, Residual Vibration, Vibration Reduction

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