Improved three-step input shaping control of crane system

Shaping command input is performed for reducing residual vibrations in motion control of dynamical structures. System inputs are changed so that the structure reaches to planned motion in minimum duration without residual oscillation. Shaping input is obtained by convolving desired input with an impulse sequence. Main goal of the input shaper design is to define impulse amplitudes and their instants from the dynamical behavior of uncontrolled response. Zero Vibration (ZV), Zero Vibration and Derivative (ZVD) and Extra Insensitive (EI) are the most common shaper types. Improving the robustness respect to modeling errors requires more impulses. These increase control duration and make difficult to solve constraint equations directly. Required parameters can be determined from the derivation of constraint equations. This paper presents Three-Step (TS) input shaping technique. A solution space for three-impulse shaping is given including both positive and negative shapers. It is shown here that ZVD and EI shapers are the special solution points in TS shaping space. The duration of the shaper less or more than ZVD's can be obtained in the defined space. Some of the new shapers give better robustness than ZVD. Experimental results from a prototype planar crane system are used to support the numerical results.

Dergi Adı WSEAS Transactions on Systems
Dergi Cilt Bilgisi 7
Dergi Sayısı 6
Sayfalar 652 - 661
Yayın Yılı 2008
Eser Adı
[dc.title]
Improved three-step input shaping control of crane system
Yazar
[dc.contributor.author]
Gürleyük S.S.
Yazar
[dc.contributor.author]
Bahadir Ö.
Yazar
[dc.contributor.author]
Türkkan Y.
Yazar
[dc.contributor.author]
Üşenti H.
Yayın Yılı
[dc.date.issued]
2008
Yayın Türü
[dc.type]
article
Özet
[dc.description.abstract]
Shaping command input is performed for reducing residual vibrations in motion control of dynamical structures. System inputs are changed so that the structure reaches to planned motion in minimum duration without residual oscillation. Shaping input is obtained by convolving desired input with an impulse sequence. Main goal of the input shaper design is to define impulse amplitudes and their instants from the dynamical behavior of uncontrolled response. Zero Vibration (ZV), Zero Vibration and Derivative (ZVD) and Extra Insensitive (EI) are the most common shaper types. Improving the robustness respect to modeling errors requires more impulses. These increase control duration and make difficult to solve constraint equations directly. Required parameters can be determined from the derivation of constraint equations. This paper presents Three-Step (TS) input shaping technique. A solution space for three-impulse shaping is given including both positive and negative shapers. It is shown here that ZVD and EI shapers are the special solution points in TS shaping space. The duration of the shaper less or more than ZVD's can be obtained in the defined space. Some of the new shapers give better robustness than ZVD. Experimental results from a prototype planar crane system are used to support the numerical results.
Kayıt Giriş Tarihi
[dc.date.accessioned]
2019-12-23
Açık Erişim Tarihi
[dc.date.available]
2019-12-23
Yayın Dili
[dc.language.iso]
eng
Konu Başlıkları
[dc.subject]
Command generation
Konu Başlıkları
[dc.subject]
Input shaping
Konu Başlıkları
[dc.subject]
Planar crane
Konu Başlıkları
[dc.subject]
Robustness
Konu Başlıkları
[dc.subject]
Three-step shaper
Konu Başlıkları
[dc.subject]
Vibration
Haklar
[dc.rights]
info:eu-repo/semantics/closedAccess
ISSN
[dc.identifier.issn]
1109-2777
İlk Sayfa Sayısı
[dc.identifier.startpage]
652
Son Sayfa Sayısı
[dc.identifier.endpage]
661
Dergi Adı
[dc.relation.journal]
WSEAS Transactions on Systems
Dergi Sayısı
[dc.identifier.issue]
6
Dergi Cilt Bilgisi
[dc.identifier.volume]
7
Tek Biçim Adres
[dc.identifier.uri]
https://hdl.handle.net/20.500.12628/6180
Görüntülenme Sayısı ( Şehir )
Görüntülenme Sayısı ( Ülke )
Görüntülenme Sayısı ( Zaman Dağılımı )
Görüntülenme
13
09.12.2022 tarihinden bu yana
İndirme
1
09.12.2022 tarihinden bu yana
Son Erişim Tarihi
24 Şubat 2024 09:04
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Tıklayınız
shaping shaper duration shapers impulse Shaping Vibration solution robustness constraint obtained equations results dynamical control residual motion three-impulse technique Three-Step presents derivation determined support parameters numerical including system positive points defined better Experimental Required special
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