Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004 J. Atwood & A. Reich...
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Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004 J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence
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Transcript of Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004 J. Atwood & A. Reich...
Robustness of Input Shaping to Nonlinear Drive
Dynamics
29 November 2004
J. Atwood & A. ReichProfessor W. Singhose
GTA: J. Lawrence
Outline
Project Description and Justification
Results Future Research Questions
Input Shaping Theory
UM-ZV
Shaper:
ZV Shaper:
Problem Statement Current input shapers assume linear dynamics
Problem Statement Unequal Rise/Fall Times inhibit shaper effectiveness
Goal
Characterize non-linear performance of current input shapers
Evaluate new, robust input shaper
No Shaping
ZV Shaping
UMZV Shaping
Modified UMZV Shaper
Comparison With No Shaping
Comparison with ZV Shaper
Comparison with UMZV Shaper
0
20
40
60
80
100
Time
Vel
ocity
(% o
f Max
)
Linear Rise, rise time=tr Exponential Rise, time constant=τ
Future Work
Retest modified UM-ZV shaper under exponential motor drive.
Expand space to investigate faster rise and fall times.
Questions??
