This paper describes the design of closed-loop control laws for servomechanisms with one dominant flexible mode. An input shaping technique is employed to alter the rigid body phase-plane trajectory that is used in time-optimal servomechanisms. The resulting controllers lead to near time-optimal performance without unwanted residual vibrations. After the basic technique is outlined for a system with one undamped flexible mode, extensions are given considering different acceleration and deceleration capabilities, damping, and slew rate limits.
Issue Section:
Technical Papers
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.2.
Book
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,” ASME J. Dyn. Syst., Meas., Control
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), pp. 252
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.3.
Franklin, G. F., Powell, J. D., and Workman, M. L., 1998, Digital Control of Dynamic Systems, Reading, MA: Addison-Wesley, pp. 599–615.
4.
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,” IEEE Trans. Autom. Control
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), pp. 560
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.11.
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, N. C.
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,” ASME J. Dyn. Syst., Meas., Control
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(1
), pp. 76
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.12.
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13.
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), pp. 673
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.Copyright © 2004
by ASME
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