SHAVO control: the combination of the adjusted command shaping and feedback control for vibration suppression

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F19%3A00329656" target="_blank" >RIV/68407700:21220/19:00329656 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/s00707-019-2363-z" target="_blank" >https://doi.org/10.1007/s00707-019-2363-z</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s00707-019-2363-z" target="_blank" >10.1007/s00707-019-2363-z</a>

Result language

angličtina

Original language name

SHAVO control: the combination of the adjusted command shaping and feedback control for vibration suppression

Original language description

The fast and precise positioning of flexiblemechanical structures is often corrupted by the unwanted dynamics in the form of a residual vibration. Therefore, we would like to find an appropriate control strategy that is capable to suppress this effect. The control strategies can be basically divided into two main groups: feedback control and feedforward control. The feedback control with the information from integrated sensors is capable to ensure the stability and robustness, but it may require large actuator effort, and it may be difficult to design satisfactory controllers for rapid movements. The feedforward methods including command/input shaping are based on the model of the system and usually require no additional sensors. They can significantly eliminate residual vibration, but feedforward methods cannot deal with disturbances, and the quality of their performance is strongly determined by the precision of the used model on which they are based. This paper proposes the novel solution to these problems, the so-called SHAVO (SHAper + serVO control) strategy that combines advantages of both approaches. Compared to other methods combining command shaping and feedback controller, the SHAVO approach differs in two key features. Firstly, it uses a different structure, the model of the system is used not only for shaper synthesis but also for predicting system outputs and states. Secondly, the shaper itself is highly optimized with arbitrary adjustable time length, not an impulse series, not limited by the system’s natural frequency.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20302 - Applied mechanics

Project

<a href="/en/project/GA16-21961S" target="_blank" >GA16-21961S: Mechatronic structures with haevily distributed actuators and sensors</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Acta Mechanica

ISSN

0001-5970

e-ISSN

1619-6937

Volume of the periodical

230

Issue of the periodical within the volume

5

Country of publishing house

AT - AUSTRIA

Number of pages

15

Pages from-to

1891-1905

UT code for WoS article

000464703900020

EID of the result in the Scopus database

2-s2.0-85061659385