On Feedback Architectures With Zero-Vibration Signal Shapers

Vyhlídal, Tomáš; Hromčík, Martin; Kučera, V.; Anderle, Milan

doi:10.1109/tac.2015.2492502

Cited by 31 publications

(36 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It can be concluded however that the signal shaper being placed in the loop between the controller and the system is rather ineffective in the given objective of suppressing the vibrations caused by disturbance variables. For example, in Huey, et al (2008), it is shown that the architecture is effective in suppressing the sensor disturbances, but completely ineffective in suppressing the oscillations themselves as they are excited by the disturbance, see also Vyhlidal et al (2015b). Let us remark that the ability of this scheme to reject sensor errors effectively has also been experimentally demonstrated in the study by Zuo et al (1995).…”

mentioning

confidence: 89%

“…Smith (1958) himself recognized this potential application of his PosiCast shaper and de- veloped a scheme with a compensator and a shaper in the feedback solving the given task. However, as shown by Vyhlidal et al (2015b), the application of the rather complex scheme can be applied if and only if both the controller and the system are biproper. Subsequently, in Hung (2003), a direct augmentation of the standard feedback loop with pre-tuned input command shaper was proposed.…”

Section: Introductionmentioning

confidence: 99%

“…Following the preliminary results in Vyhlidal et al (2013a), the novel and for the given task entirely efficient feedback loop architecture has been proposed in Vyhlidal et al (2015b), including both simulation and experimental verification, see also Vyhlidal et al (2014) for the double mode compensation task. The method, which will be addressed in the following preliminary section in more detail, is based on including an inverse shaper to the feedback The first objective of the paper is to demonstrate the applicability of the inverse shaper to a more complex system utilizing output feedback from all the available (measured) outputs in a multi-degree of freedom mechanical system.…”

Section: Introductionmentioning

confidence: 99%

“…According to the authors knowledge, no such a step by step procedure for designing a controller for a system with input shaper(s) has been considered so far. In Vyhlidal et al (2015b), the controller tuning was done simply by loop shaping in the frequency domain. An available alternative is to consider the original scheme by Smith (1958), where the delay is removed from the loop by a compensator.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Spectral design of output feedback controllers for systems pre-compensated by input shapers∗∗The presented research has been supported by the Czech Science Foundation under the project No. 13–06962S, by the Programme of Interuniversity Attraction Poles of the Belgian Federal Science Policy Office(IAP P6–DYSCO), by OPTEC, the Optimization in Engineering Center of the KU Leuven, and the project G.0712.11N and G.0717.11N of the Research Foundation –Flanders (FWO).

2015

View full text Add to dashboard Cite

The primary objective is to investigate the applicability of spectral methods for designing feedback controllers for a closed loop system with an input shaper with time delays. The shaper is included in the feedback loop in order to pre-compensate low-damped oscillatory modes of a flexible subsystem. However, after inserting a shaper into the feedback loop, the closed loop dynamics becomes infinite dimensional. A robust controller design then requires guaranteeing that all the infinitely many poles of the closed loop system will safely be located in the left half of the complex plane. Besides, the closed loop dynamics need to be sufficiently fast in order to take over and keep filtering properties of the input shaper. For the spectral design of the controller, the recently developed spectral abscissa minimization approach for interconnected time delay systems is applied. The presented methods are tested on a case study simulation example, which is a multi-degree of freedom mechanical system.

show abstract

mentioning

confidence: 89%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Spectral design of output feedback controllers for systems pre-compensated by input shapers∗∗The presented research has been supported by the Czech Science Foundation under the project No. 13–06962S, by the Programme of Interuniversity Attraction Poles of the Belgian Federal Science Policy Office(IAP P6–DYSCO), by OPTEC, the Optimization in Engineering Center of the KU Leuven, and the project G.0712.11N and G.0717.11N of the Research Foundation –Flanders (FWO).

2015

View full text Add to dashboard Cite

show abstract

“…These signals result in different responses, the superposition of which could reduce the oscillation amplitude, even to zero. References [17][18][19] proposed concepts of zero-vibration (ZV), zero-vibration-derivative (ZVD), and extra insensitive (EI) shapers. Furthermore, to enhance the robustness against parameter uncertainty, the ZVD k input shaper was proposed, but produced a longer time delay with smaller step size.…”

Section: Introductionmentioning

confidence: 99%

Online‐Offline Optimized Motion Profile for High‐Dynamic Positioning of Ultraprecision Dual Stage

2018

View full text Add to dashboard Cite

The wafer stage in dual-stage lithographic system is an air-bearing servo motion platform requiring high positioning accuracy and high transient performance. However, the residual vibration, resulting from almost zero damping, high velocity, parallel decoupling structure, and direct drive, brings about unacceptable overshoot and settling time. To suppress these unfavorable elements in high dynamic motion, a novel motion profile planning method combined with input shaping is proposed in this paper. Firstly, a trajectory named all free S-curve (AFS-curve) is derived, which has less constraints and better performance than traditional S-curve profile. Then, AFS-curve combined with a zero vibration shaper (ZV) is developed to further suppress residual vibration. Due to the very complex parameter adjustment, the online tuning may cause system oscillation that leads to damage of the precision stage. This paper, furthermore, proposes an online-offline method to optimize the parameters in the motion profile. Online step is performed to collect input and output data. Offline step includes the system model identification based on I/O data and parameter self-learning based on particle swarm optimization (PSO). The simulation and experimental results indicate that the proposed method achieves significant reduction of the positioning time and the overshoot in the dual-stage system.

show abstract

A Comparison of Shaper-Based and Shaper-Free Architectures for Feedforward Compensation of Flexible Modes

Pilbauer

Michiels

Vyhlídal

2019

Delays and Interconnections: Methodology, Algorithms and Applications

View full text Add to dashboard Cite

Delay based reference shaping is a broadly used technique, very easy to implement and with good filtering properties. Guaranteeing the filtering property for input and output disturbances as well, motivated the developments of novel control architectures where delay based shapers appear in feedback loops as inverse shapers. Intuitively, one may ask to what extent the explicit inclusion of shapers is necessary, i.e., whether similar filtering properties could be induced by a suitable parameterization of the controller, which would have as additional advantage that the closed loop system would remain finite-dimensional. The aim of the chapter is to shed a light on this matter and provide answers. For this, a scheme with an inverse shaper is compared with a classical control scheme, where constraints on the location of the controller's zeros are added in the design, in order to induce the filtering property. Both methods are presented with numerical examples, concluding with a discussion of the results. It is show, among others, that filtering is indeed possible by an appropriate controller design, but at the same time, major limitations appear, that further motivate the use of delay based shapers.

show abstract

On Feedback Architectures With Zero-Vibration Signal Shapers

Cited by 31 publications

References 36 publications

Online‐Offline Optimized Motion Profile for High‐Dynamic Positioning of Ultraprecision Dual Stage

A Comparison of Shaper-Based and Shaper-Free Architectures for Feedforward Compensation of Flexible Modes

Contact Info

Product

Resources

About