Combining Input Shaping and Adaptive Model-Following Control for Vibration Suppression-Reference-Cited by-同舟云学术

Combining Input Shaping and Adaptive Model-Following Control for Vibration Suppression

Published:2021-01-20 Issue:1 Volume:25 Page:56-63
ISSN:1883-8014
Container-title:Journal of Advanced Computational Intelligence and Intelligent Informatics
language:en
Short-container-title:JACIII

Author:

She Jinhua,Wu Lulu,Liu Zhen-Tao, , ,

Abstract

Vibration suppression in servo systems is significant in high-precision motion control. This paper describes a vibration-suppression method based on input shaping and adaptive model-following control. First, a zero vibration input shaper is used to suppress the vibration caused by an elastic load to obtain an ideal position output. Then, a configuration that combines input shaping with model-following control is developed to suppress the vibration caused by changes of system parameters. Finally, analyzing the percentage residual vibration reveals that it is effective to employ the sum of squared position error as a criterion. Additionally, a golden-section search is used to adjust the parameters of a compensator in an online fashion to adapt to the changes in the vibration frequency. A comparison with other input shaper methods shows the effectiveness and superiority of the developed method.

Funder

National Key R&D Program of China

National Natural Science Foundation of China

Natural Science Foundation of Hubei Province

Wuhan Applied Foundational Frontier Project

Higher Education Discipline Innovation Project

Publisher

Fuji Technology Press Ltd.

Subject

Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction

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