Robust Zero Placement for Motion Control of Lightly Damped Systems

Ha, Chang-Wan; Rew, Keun-Ho; Kim, Kyung-Soo

doi:10.1109/tie.2012.2206334

Cited by 30 publications

(11 citation statements)

References 22 publications

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“…As previously reported in various literatures [1][2][3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper.…”

mentioning

confidence: 85%

Embedded Input Shaper: Difference between Trapezoidal Profile and S-curve Profile

Ha¹,

Lee²,

Yoon³

et al. 2014

Journal of Institute of Control, Robotics and Systems

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In this paper, we discuss the relation between the motion profile and pre-filter. As previously reported in various literatures [1][2][3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper. In contrast to the previously reported impulse-sequence-based input shapers, the input shaper extracted from the motion profile has unique characteristics. Thanks to the characteristics of the input shaper extracted from the motion profile, it has advantages to reduce the vibrations caused by not only the modeled vibratory mode but also unmodeled dynamics which exist in higher frequency ranges.

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mentioning

confidence: 85%

Embedded Input Shaper: Difference between Trapezoidal Profile and S-curve Profile

Ha¹,

Lee²,

Yoon³

et al. 2014

Journal of Institute of Control, Robotics and Systems

Self Cite

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“…Once the state is inside the BL, the origin is finally reached in m steps, where m is given by (11). Summarizing, depending on the initial state, the number of sample times required to achieve convergence can be evaluated according to Table I.…”

Section: Evaluation Of the Transient Timementioning

confidence: 99%

“…In repetitive contexts, smooth profiles can be planned offline. For example, in [9]- [11] linking curves were used to reduce system overshoots or oscillations. When discontinuous reference signals are not known in advance, the smoothing action is obtained through real-time methods.…”

Section: Introductionmentioning

confidence: 99%

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An Efficient Algorithm for the Real-Time Generation of Synchronous Reference Signals

Bianco

2017

IEEE Trans. Ind. Electron.

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Discontinuous reference signals reduce the performances of feedback control systems. This paper proposes an algorithm which generates smooth and synchronous set-points for electromechanical systems, starting from rough input signals. This result is achieved by filtering the discontinuous signals through a set of nonlinear filters whose output is given by smooth profiles subject to velocity and acceleration constraints. The reference synchronization is obtained by acting on the velocity bounds and can be customized to accomplish alternative tasks. In this work, for example, it is used to reduce friction power losses which affect electromechanical systems. The proposed algorithm is extremely compact and efficient, so that it can be implemented on control boards having limited memory and limited computational capabilities.

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“…Most of them consider rest-to-rest transients and static constraints. This is the case, for example, of the closed form solution that was proposed in [5]- [7], in which asymmetric S-curves were adopted in order to reduce the vibrations that occur during arrest transients. Time optimality was not specifically addressed.…”

Section: Introductionmentioning

confidence: 99%

A Discrete-Time Filter for the Generation of Signals With Asymmetric and Variable Bounds on Velocity, Acceleration, and Jerk

Bianco

Ghilardelli

2014

IEEE Trans. Ind. Electron.

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Reference signals, which are used to drive feedback control loops, are often evaluated on the fly on the basis of the operating conditions. As a consequence, they can be too demanding for the actuation system whose outputs could saturate, thus worsening the tracking performances of the feedback loop. Improved answers can be obtained by smoothing rough references by means of proper filters that are also able to impose bounds on the signal dynamics. This paper proposes a filtering system whose output mimics at best any given input signal compatibly with some smoothness requirements. In particular, generated signals are continuous up to the second time derivative, and their first three time derivatives are constrained between assigned bounds that can be asymmetric and that can also be changed on the fly. The filter, which is internally characterized by minimum time transients, is able to follow, with zero tracking error, piecewise-continuous signals given by combinations of steps, ramps, and parabolas.

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Robust Zero Placement for Motion Control of Lightly Damped Systems

Cited by 30 publications

References 22 publications

Embedded Input Shaper: Difference between Trapezoidal Profile and S-curve Profile

Embedded Input Shaper: Difference between Trapezoidal Profile and S-curve Profile

An Efficient Algorithm for the Real-Time Generation of Synchronous Reference Signals

A Discrete-Time Filter for the Generation of Signals With Asymmetric and Variable Bounds on Velocity, Acceleration, and Jerk

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