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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA16-21961S" target="_blank" >GA16-21961S: Mechatronické struktury se silně distribuovanými aktuátory a senzory</a><br>

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

Acta Mechanica

ISSN

0001-5970

e-ISSN

1619-6937

Svazek periodika

230

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

AT - Rakouská republika

Počet stran výsledku

15

Strana od-do

1891-1905

Kód UT WoS článku

000464703900020

EID výsledku v databázi Scopus

2-s2.0-85061659385