Finite-state input shaping / Khalid L. Sorensen in IEEE Transactions on control systems technology, Vol. 18 N° 3 (Mai 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 664-672 Titre : Finite-state input shaping Type de document : texte imprimé Auteurs : Khalid L. Sorensen, Auteur ; Keith Hekman, Auteur ; Singhose, Wiliam, Auteur Année de publication : 2011 Article en page(s) : pp. 664-672 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Command shaping Discrete automata Finite actuation Hybrid system Input Quantized control Vibration Index. décimale : 629.1 Résumé : Input shaping is an effective method for suppressing motion-induced oscillation in flexible systems. This technique works well on systems with continuously-variable actuation. However, many systems only have a finite number of actuation states. For example, some relay-driven cranes have three actuation states: off, low-speed, and full speed. The discretizing effect of finite-state actuation can reduce the effectiveness of input shaping. This paper investigates the detrimental effects of discretization. The operational effects of finite-state input shaping are evaluated by using experimental results from a human-operated bridge crane, and a 3-D simulation of this crane. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5280190 [article] Finite-state input shaping [texte imprimé] / Khalid L. Sorensen, Auteur ; Keith Hekman, Auteur ; Singhose, Wiliam, Auteur . - 2011 . - pp. 664-672. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 664-672 Mots-clés : Command shaping Discrete automata Finite actuation Hybrid system Input Quantized control Vibration Index. décimale : 629.1 Résumé : Input shaping is an effective method for suppressing motion-induced oscillation in flexible systems. This technique works well on systems with continuously-variable actuation. However, many systems only have a finite number of actuation states. For example, some relay-driven cranes have three actuation states: off, low-speed, and full speed. The discretizing effect of finite-state actuation can reduce the effectiveness of input shaping. This paper investigates the detrimental effects of discretization. The operational effects of finite-state input shaping are evaluated by using experimental results from a human-operated bridge crane, and a 3-D simulation of this crane. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5280190

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Negative input shaping / Khalid L. Sorensen in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 n°6 (Novembre 2008)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 n°6 (Novembre 2008) . - 7 p. Titre : Negative input shaping : eliminating overcurrenting and maximizing the command space Type de document : texte imprimé Auteurs : Khalid L. Sorensen, Auteur ; Keith Hekman, Auteur ; Aayush Daftari, Auteur Année de publication : 2009 Article en page(s) : 7 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : oscillations  cranes  simulation  gantry impulse (physics)  equations  filters  signals  actuators Résumé : Input shaping is a filtering method used for reducing oscillation in flexible systems. A class of these filters, called negative input shapers, has been developed to improve system rise-time beyond what is achievable using conventional input-shaping filters. However, negative input shapers can cause overcurrenting and subsequent system oscillation, when used with certain reference commands. This class of reference commands is examined in the context of the command space. The command space represents the space of all possible signals that may be issued to a system. It provides insight into how overcurrenting occurs, how overcurrenting can be mitigated, and the influence that mitigation strategies have on system performance. Two overcurrenting mitigation strategies are presented. The operational effects of overcurrenting and overcurrenting mitigation are evaluated using a three-dimensional simulation of a bridge crane, and experimental results from a 10ton industrial bridge crane. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Negative input shaping : eliminating overcurrenting and maximizing the command space [texte imprimé] / Khalid L. Sorensen, Auteur ; Keith Hekman, Auteur ; Aayush Daftari, Auteur . - 2009 . - 7 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 n°6 (Novembre 2008) . - 7 p. Mots-clés : oscillations  cranes  simulation  gantry impulse (physics)  equations  filters  signals  actuators Résumé : Input shaping is a filtering method used for reducing oscillation in flexible systems. A class of these filters, called negative input shapers, has been developed to improve system rise-time beyond what is achievable using conventional input-shaping filters. However, negative input shapers can cause overcurrenting and subsequent system oscillation, when used with certain reference commands. This class of reference commands is examined in the context of the command space. The command space represents the space of all possible signals that may be issued to a system. It provides insight into how overcurrenting occurs, how overcurrenting can be mitigated, and the influence that mitigation strategies have on system performance. Two overcurrenting mitigation strategies are presented. The operational effects of overcurrenting and overcurrenting mitigation are evaluated using a three-dimensional simulation of a bridge crane, and experimental results from a 10ton industrial bridge crane. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

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