A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation
This paper describes the construction of low-pass FIR filters for application as command input shapers in motion control systems. The filters are designed to operate on an arbitrary command input signal to ensure a finite settling time for system modes with known natural frequency and damping ratio....
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th-cmuir.6653943832-427772017-09-28T06:38:58Z A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation Cole M. This paper describes the construction of low-pass FIR filters for application as command input shapers in motion control systems. The filters are designed to operate on an arbitrary command input signal to ensure a finite settling time for system modes with known natural frequency and damping ratio. In addition, the required roll-off rate of the filter frequency response may be prescribed in the design. Excitation of unmodeled high-frequency modes can thereby be reduced. The filters also produce an input-smoothing effect that is useful in situations where discontinuities in the input signal or its derivatives would be detrimental to system performance or function. Numerical case studies are presented to clarify these effects. © 2012 Elsevier Ltd. All rights reserved. 2017-09-28T06:38:58Z 2017-09-28T06:38:58Z 2012-09-01 Journal 00051098 2-s2.0-84864972021 10.1016/j.automatica.2012.06.005 https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84864972021&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/42777 |
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This paper describes the construction of low-pass FIR filters for application as command input shapers in motion control systems. The filters are designed to operate on an arbitrary command input signal to ensure a finite settling time for system modes with known natural frequency and damping ratio. In addition, the required roll-off rate of the filter frequency response may be prescribed in the design. Excitation of unmodeled high-frequency modes can thereby be reduced. The filters also produce an input-smoothing effect that is useful in situations where discontinuities in the input signal or its derivatives would be detrimental to system performance or function. Numerical case studies are presented to clarify these effects. © 2012 Elsevier Ltd. All rights reserved. |
| format |
Journal |
| author |
Cole M. |
| spellingShingle |
Cole M. A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation |
| author_facet |
Cole M. |
| author_sort |
Cole M. |
| title |
A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation |
| title_short |
A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation |
| title_full |
A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation |
| title_fullStr |
A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation |
| title_full_unstemmed |
A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation |
| title_sort |
class of low-pass fir input shaping filters achieving exact residual vibration cancelation |
| publishDate |
2017 |
| url |
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84864972021&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/42777 |
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