Concurrent design of input shaping and feedback control for insensitivity to parameter variations

2000 ◽  
Author(s):  
M. Kenison ◽  
W. Singhose
Keyword(s):  
Feedback Control ◽  
Input Shaping ◽  
Concurrent Design ◽  
Parameter Variations

Concurrent Design of Vibration Absorbers and Input Shapers

2004 ◽  
Vol 127 (3) ◽  
pp. 329-335 ◽  
Author(s):  
Joel Fortgang ◽  
William Singhose
Keyword(s):  
Feedback Control ◽  
Computer Simulations ◽  
Performance Feedback ◽  
High Performance ◽  
Experimental Results ◽  
Input Shaping ◽  
Concurrent Design ◽  
Vibration Absorbers ◽  
External Disturbances

Systems with flexible dynamics often vibrate due to external disturbances, as well as from changes in the reference command. Feedback control is an obvious choice to deal with these vibrations, but in many cases, it is insufficient or difficult to implement. A technique that does not rely on high performance feedback control is presented here. It utilizes a combination of vibration absorbers and input shapers. Vibration absorbers have been used extensively to reduce vibration from sinusoidal disturbances, but they can also be implemented to reduce the response from transient functions. Input shaping has proven beneficial for reducing vibration that is caused by changes in the reference command. However, input shaping does not deal with vibration excited by external disturbances. In this paper, vibration absorbers and input shapers are designed sequentially and concurrently to reduce vibration from both the reference command and from external disturbances. The usefulness of this approach is demonstrated through computer simulations and experimental results.

Effect of Input Shaping on Response of Inertia Plants

2011 ◽  
Vol 121-126 ◽  
pp. 2676-2680
Author(s):  
Ming Xiao Dong ◽  
Rui Chuan Li ◽  
Qin Zu Xu
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Control Systems ◽  
Setting Time ◽  
Input Shaping ◽  
Pd Controller ◽  
Residual Vibration ◽  
Simulation Results ◽  
Analytical Expressions ◽  
Input Shaping Control

A poorly designed control system can lead to excessive residual vibration and long setting time. This paper investigates the effect of input shaping on control efficiency. To perform this investigation, we design a PD controller combined with input shaping for an inertia plant. We then subject it to four standard types of inputs. The responses of the control systems are described by analytical expressions. The performances of PD control and PD combined with input-shaping control are thoroughly analyzed and compared. Simulation results show that PD feedback control enhanced with input shaping minimizes overshoot and setting time.

Concurrent Design of Input Shaping and Proportional Plus Derivative Feedback Control

2002 ◽  
Vol 124 (3) ◽  
pp. 398-405 ◽  
Author(s):  
Michael Kenison ◽  
William Singhose
Keyword(s):  
Disturbance Rejection ◽  
Design Method ◽  
Feedback Controller ◽  
Input Shaping ◽  
Concurrent Design ◽  
Pd Controller ◽  
Performance Requirements ◽  
Wide Range ◽  
Command Signals ◽  
Pd Feedback Controller

Systems that exhibit flexible dynamics are widespread and present a very challenging control problem when their performance is pushed to the limit. If there is some knowledge of the flexible modes, then command signals can be generated to negate the detrimental dynamics. These vibration-reducing commands are dependent on the feedback controller gains because the gains influence the flexible modes. This paper presents a method for concurrently designing a PD feedback controller and a command generator so that performance is optimized. The design method takes into account limits on allowable overshoot, residual vibration, and actuator effort. Furthermore, the structure of the method allows a wide range of performance requirements, such as disturbance rejection, to be integrated into the design. Results demonstrate that a PD controller cannot achieve the same performance as a PD controller augmented with a command generator.

Sign in / Sign up

Export Citation Format

Share Document