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Goubej, M. and Škarda, R. and Schlegel, M. : Input Shaping Filters for the Control of Electrical Drive with Flexible Load . Proceedings of the 17th International Conference on Process Control '09, p. 595-601, Slovak University of Technology in Bratislava, Fiikar, M. and Kvasnica, M., Štrbské Pleso, Slovakia, 2009.

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17th International Conference on Process Control

Abstract

This paper deals with control of flexible mechanical systems. The goal is to modify the input signal in order to minimize the residual vibrations excited during a motion of a system with flexible parts. The filter is designed in the time domain via impulse function analysis. Possible application of the proposed solution is demonstrated on two examples of flexible system - control of a crane with hanging load and an electrical servo drive with attached flexible shaft. The effect of nonlinearities in the signal path caused by saturation of the servo loop controllers is studied. Various possibilities for the placement of the filter are discussed.

Detail of publication

Title: Input Shaping Filters for the Control of Electrical Drive with Flexible Load
Author: Goubej, M. ; Škarda, R. ; Schlegel, M.
Language: English
Date of publication: 1 Jun 2009
Year: 2009
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: Proceedings of the 17th International Conference on Process Control '09
Page: 595 - 601
Editor: Fiikar, M. and Kvasnica, M.
Publisher: Slovak University of Technology in Bratislava
Address: Štrbské Pleso, Slovakia
Date: 9 Jun 2009 - 12 Jun 2009
/ 2009-09-22 15:01:11 /

Keywords

Residual vibration control, input shaping, crane with load, flexible shaft, motion control

BibTeX

@INPROCEEDINGS{GoubejM_2009_InputShapingFilters,
 author = {Goubej, M. and \v{S}karda, R. and Schlegel, M.},
 title = {Input Shaping Filters for the Control of Electrical Drive with Flexible Load},
 year = {2009},
 publisher = {Slovak University of Technology in Bratislava},
 journal = {Proceedings of the 17th International Conference on Process Control '09},
 address = {\v{S}trbsk\'{e} Pleso, Slovakia},
 pages = {595-601},
 editor = {Fiikar, M. and Kvasnica, M.},
 url = {http://www.kky.zcu.cz/en/publications/GoubejM_2009_InputShapingFilters},
}