Affiliation:
1. Department of Electrical and Computer Engineering, University of Colorado, Boulder, CO 80309-0425
Abstract
This paper describes the design of closed-loop control laws for servomechanisms with one dominant flexible mode. An input shaping technique is employed to alter the rigid body phase-plane trajectory that is used in time-optimal servomechanisms. The resulting controllers lead to near time-optimal performance without unwanted residual vibrations. After the basic technique is outlined for a system with one undamped flexible mode, extensions are given considering different acceleration and deceleration capabilities, damping, and slew rate limits.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
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