Convolution-Based Input Shaping for Finite-Time Settling in Non-LTI Systems: An LTV Approach
© 2019 IEEE. This paper gives the formulation of a parameter-dependent input shaping filter suitable for residual vibration reduction in motion control of non-LTI systems. The method is based on the assumption that the vibratory dynamics can be represented by a second order linear ODE with time-vary...
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| Main Authors: | , |
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| Format: | Conference Proceeding |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85077787103&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/67718 |
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| Institution: | Chiang Mai University |
| Summary: | © 2019 IEEE. This paper gives the formulation of a parameter-dependent input shaping filter suitable for residual vibration reduction in motion control of non-LTI systems. The method is based on the assumption that the vibratory dynamics can be represented by a second order linear ODE with time-varying coefficients that can be estimated during motion. The control implementation involves a time-varying filter function that is convolved with the system command/actuation signal in real-time. Discrete-time implementation and performance aspects are studied by numerical simulation. Numerical results for a benchmark mechanical system are presented that reveal limitations due to non-linear dynamics impacting on the accuracy of the LTV assumption. Results from implementation on a flexure-jointed X-Y motion stage mechanism are shown that confirm the applicability and effectiveness of the method in achieving reduced vibration and settling time for step-wise motion tasks. |
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