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박운환,이재원,노상현 영남대학교 공업기술연구소 1999 工業技術硏究所論文集 Vol.27 No.1
Input shaping method is an open-loop control method for reduction residual vibration. Many researchers have controled residual vibration with input shaping filter. This filter is designed with information of natural frequency and damping ratio. Until now this has been designed in the continuous time domain. But design of continuous time domain is complicate because of nonlinear simultaneous equations. So, this paper presents design method of input shaping filter and calculation method of sensitivity in the z-domain. Not solving nonlinear simultaneous equations and estimating shape of sensitivity curve, we are easy to design input shaping filter. In this paper, we calculate sensitivity as impulse interval in the z-domain and prove the same of sensitivity in the time domain and in the z-domain.
주파수와 감쇠비 변화에 강인한 Convolution 입력성형기 설계
박운환,이재원,임병덕,Park, Un-Hwan,Lee, Jae-Won,Im, Byeong-Deok 대한기계학회 2002 大韓機械學會論文集A Vol.26 No.1
The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers have been considered robustness fur only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness fur the variation of frequency and damping ratio.
박운환,이재원,임병덕,Park, Un-Hwan,Lee, Jae-Won,Im, Byeong-Deok 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.7
Input shaping method is to convolute input shaper, which is sequence of impulses, with reference input command not to excite the natural frequency of system. To reduce residual vibration for the ch ange of frequency, the number of impulses should be increased. Until now, amplitudes and time interval of those has been searched from the derivative of residual vibration. However, if time interval of impulses is fixed as the half of vibration period of system, input shaper H(z) in z-domain becomes (I-pz-1)n/K in which increasing n is the mean that robustness for change of parameter is improved. Also, design of many types of input shapers in z-domain is very easy because sensitivity curve is displayed with $\mid$H(z)zn$\mid$$\times$100. In the z-domain, EI(Extra-Insensitive) input shaper could be designed without solving nonlinear simultaneous equations as design in continuous time domain. In addition to, the design possibility of input shaper for a damped system was shown.