Input Shaping输入整形.PPTVIP

INPUT SHAPING S?rr? Sunay Gürleyük, PhD. Bülent Ecevit University Department of Electrical Electronics engineering 67100 Zonguldak / TüRK?YE Tel : 0 372 3191954 Fax : 0 372 3191955 E-mail: gurleyuk@ Most existing dynamic systems are designed to maximize stiffness, in an attempt to minimize system vibration and achieve good positional accuracy. High stiffness is achieved by using heavy material. They are: Heavy, slow, big, high energy consumption. In contrast, flexible systems: require less material, lighter in weight, have higher speed, lower power consumption, require smaller actuators, more maneuverable and transportable, safer to operate, less overall cost higher payload to load weight ratio Flexible Systems However, problems arise due to precise positioning requirements. difficulty in obtaining accurate model of the system high vibration We need control The control strategies for flexible manipulator systems can be classified as feedforward and feedback control schemes. Feedback technique is robust but needs sensor and measurements. Feedforward method does not require any additional sensors or actuators and does not account for changes in the system once the input is developed. Dynamic Systems Dynamic Systems Dynamic Systems System dynamics (1) A vibratory system can be modeled as a second-order systems with a transfer function where ωn is the natural frequency and ζ is the damping ratio of the system. Step Response (2) Here, Impulse Response (3) System Response (4) (4a) (4b) Residual Vibration (5) Where, and sing