Documents disponibles écrits par cet auteur

Jerk Limited Input Shapers / Singh, Tarunraj in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 126 N° 1 (Mars 2004)

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 126 N° 1 (Mars 2004) . - 215-219 p. Titre : Jerk Limited Input Shapers Titre original : Entrée Limitée Shapers de Secousse Type de document : texte imprimé Auteurs : Singh, Tarunraj, Auteur Article en page(s) : 215-219 p. Note générale : Génie Mécanique Langues : Anglais (eng) Mots-clés : Façonneur  d'entrée  limité  par  secousse  Système  sec  Intégrateur  à  un  filre  à  retard  de  temps Index. décimale : 629.8 Résumé : The focus of this paper is on the design of jerk limited input shapers (time-delay filters). Closed form solutions for the jerk limited time-delay filter for undamped systems is derived followed by the formulation of the problem for damped systems. Since the jerk limited filter involves concatenating an integrator to a time-delay filter, a general filter design technique is proposed where smoothing of the shaped input can be achieved by concatenating transfer functions of first order, harmonic systems, etc. Le centre de cet article est sur la conception des façonneurs d'entrée limités par secousse (filtres à retard de temps). Les solutions de forme close pour la secousse le filtre qu'à retard de temps limité pour les systèmes secs est dérivé ont suivi de la formulation du problème pour les systèmes atténués. Depuis la secousse on propose le filtre limité implique d'enchaîner un intégrateur à un filtre à retard de temps, une technique de conception générale de filtre où lisser de l'entrée formée peut être réalisé en enchaînant des fonctions de transfert du premier ordre, des systèmes harmoniques, etc. [article] Jerk Limited Input Shapers = Entrée Limitée Shapers de Secousse [texte imprimé] / Singh, Tarunraj, Auteur . - 215-219 p. Génie Mécanique Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 126 N° 1 (Mars 2004) . - 215-219 p. Mots-clés : Façonneur  d'entrée  limité  par  secousse  Système  sec  Intégrateur  à  un  filre  à  retard  de  temps Index. décimale : 629.8 Résumé : The focus of this paper is on the design of jerk limited input shapers (time-delay filters). Closed form solutions for the jerk limited time-delay filter for undamped systems is derived followed by the formulation of the problem for damped systems. Since the jerk limited filter involves concatenating an integrator to a time-delay filter, a general filter design technique is proposed where smoothing of the shaped input can be achieved by concatenating transfer functions of first order, harmonic systems, etc. Le centre de cet article est sur la conception des façonneurs d'entrée limités par secousse (filtres à retard de temps). Les solutions de forme close pour la secousse le filtre qu'à retard de temps limité pour les systèmes secs est dérivé ont suivi de la formulation du problème pour les systèmes atténués. Depuis la secousse on propose le filtre limité implique d'enchaîner un intégrateur à un filtre à retard de temps, une technique de conception générale de filtre où lisser de l'entrée formée peut être réalisé en enchaînant des fonctions de transfert du premier ordre, des systèmes harmoniques, etc.

Minimax input shaper design using linear programming / Singh, Tarunraj in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°5 (Septembre 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 9 p. Titre : Minimax input shaper design using linear programming Type de document : texte imprimé Auteurs : Singh, Tarunraj, Auteur Année de publication : 2008 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : design;  linear  programming;  nonlinear  programming;  springs;  shock  absorbers;  equations;  uncertainty;  stiffness Résumé : The focus of this paper is on the design of robust input shapers where the maximum value of the cost function over the domain of uncertainty is minimized. This nonlinear programming problem is reformulated as a linear programming problem by approximating a n-dimensional hypersphere with multiple hyperplanes (as in a geodesic dome). A recursive technique to approximate a hypersphere to any level of accuracy is developed using barycentric coordinates. The proposed technique is illustrated on the spring-mass-dashpot and the benchmark floating oscillator problem undergoing a rest-to-rest maneuver. It is shown that the results of the linear programming problem are nearly identical to that of the nonlinear programming problem. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Minimax input shaper design using linear programming [texte imprimé] / Singh, Tarunraj, Auteur . - 2008 . - 9 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 9 p. Mots-clés : design;  linear  programming;  nonlinear  programming;  springs;  shock  absorbers;  equations;  uncertainty;  stiffness Résumé : The focus of this paper is on the design of robust input shapers where the maximum value of the cost function over the domain of uncertainty is minimized. This nonlinear programming problem is reformulated as a linear programming problem by approximating a n-dimensional hypersphere with multiple hyperplanes (as in a geodesic dome). A recursive technique to approximate a hypersphere to any level of accuracy is developed using barycentric coordinates. The proposed technique is illustrated on the spring-mass-dashpot and the benchmark floating oscillator problem undergoing a rest-to-rest maneuver. It is shown that the results of the linear programming problem are nearly identical to that of the nonlinear programming problem. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Minimax state/residual-energy constrained shapers for flexible structures / Matthew Vossler in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 08 p. Titre : Minimax state/residual-energy constrained shapers for flexible structures : linear programming approach Type de document : texte imprimé Auteurs : Matthew Vossler, Auteur ; Singh, Tarunraj, Auteur Année de publication : 2010 Article en page(s) : 08 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Control  system  synthesis  Flexible  structures  Linear  programming  Minimax  techniques  Robust  control  Vibration  control Index. décimale : 629.8 Résumé : The focus of this paper is on the design of shaped profiles subject to transient state constraints and terminal energy limits. The issue of robustness to modeling errors is addressed by formulating a minimax optimization problem in a linear programming framework, permitting the generation of near-globally optimal shaped profiles. To illustrate the proposed technique, a deflection-limited/residual energy constrained, controller design for flexible structures undergoing rest-to-rest maneuvers will be presented. Techniques for improving robustness by the addition of state sensitivity equations, which increases the robustness in the vicinity of the nominal model, are explored. Results for the benchmark oscillator illustrate the benefit of the proposed approach over traditional designs. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Minimax state/residual-energy constrained shapers for flexible structures : linear programming approach [texte imprimé] / Matthew Vossler, Auteur ; Singh, Tarunraj, Auteur . - 2010 . - 08 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 08 p. Mots-clés : Control  system  synthesis  Flexible  structures  Linear  programming  Minimax  techniques  Robust  control  Vibration  control Index. décimale : 629.8 Résumé : The focus of this paper is on the design of shaped profiles subject to transient state constraints and terminal energy limits. The issue of robustness to modeling errors is addressed by formulating a minimax optimization problem in a linear programming framework, permitting the generation of near-globally optimal shaped profiles. To illustrate the proposed technique, a deflection-limited/residual energy constrained, controller design for flexible structures undergoing rest-to-rest maneuvers will be presented. Techniques for improving robustness by the addition of state sensitivity equations, which increases the robustness in the vicinity of the nominal model, are explored. Results for the benchmark oscillator illustrate the benefit of the proposed approach over traditional designs. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

Pole-zero, zero-pole canceling input shapers / Singh, Tarunraj in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 1 (Janvier 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 10 p. Titre : Pole-zero, zero-pole canceling input shapers Type de document : texte imprimé Auteurs : Singh, Tarunraj, Auteur Année de publication : 2012 Article en page(s) : 10 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Aircraft  control  Delay  filters  Poles  and  zeros  Robust  control  Transfer  functions Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This paper presents the development of an input-shaper/time-delay filter, which exploits knowledge of the zeros of a minimum-phase transfer function to reduce the output-transition time for a rest-to-rest maneuver problem, compared to the traditional zero vibration (ZV) input shaper. The maneuver time of the robust input shaper presented in this work will correspondingly have a smaller maneuver time compared to the zero vibration derivative (ZVD) input-shaper. The shaped profile is changing with time even after the completion of the maneuver similar to postactuation controllers. All the traditional technique for addressing multiple modes and desensitizing the filter over a specified domain of uncertainties are applicable to the technique presented in this paper. DEWEY : 553 ISSN : 0022-0434 En ligne : http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013400 [...] [article] Pole-zero, zero-pole canceling input shapers [texte imprimé] / Singh, Tarunraj, Auteur . - 2012 . - 10 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 10 p. Mots-clés : Aircraft  control  Delay  filters  Poles  and  zeros  Robust  control  Transfer  functions Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This paper presents the development of an input-shaper/time-delay filter, which exploits knowledge of the zeros of a minimum-phase transfer function to reduce the output-transition time for a rest-to-rest maneuver problem, compared to the traditional zero vibration (ZV) input shaper. The maneuver time of the robust input shaper presented in this work will correspondingly have a smaller maneuver time compared to the zero vibration derivative (ZVD) input-shaper. The shaped profile is changing with time even after the completion of the maneuver similar to postactuation controllers. All the traditional technique for addressing multiple modes and desensitizing the filter over a specified domain of uncertainties are applicable to the technique presented in this paper. DEWEY : 553 ISSN : 0022-0434 En ligne : http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013400 [...]

Polynomial chaos based design of robust input shapers / Singh, Tarunraj in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 5 (Septembre 2010) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 5 (Septembre 2010) . - 13 p. Titre : Polynomial chaos based design of robust input shapers Type de document : texte imprimé Auteurs : Singh, Tarunraj, Auteur ; Puneet Singla, Auteur ; Umamaheswara Konda, Auteur Année de publication : 2010 Article en page(s) : 13 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Chaos  Delay  filters  Design  engineering  Optimisation  Polynomial  approximation  Probability  Springs  (mechanical) Index. décimale : 629.8 Résumé : A probabilistic approach, which exploits the domain and distribution of the uncertain model parameters, has been developed for the design of robust input shapers. Polynomial chaos expansions are used to approximate uncertain system states and cost functions in the stochastic space. Residual energy of the system is used as the cost function to design robust input shapers for precise rest-to-rest maneuvers. An optimization problem, which minimizes any moment or combination of moments of the distribution function of the residual energy is formulated. Numerical examples are used to illustrate the benefit of using the polynomial chaos based probabilistic approach for the determination of robust input shapers for uncertain linear systems. The solution of polynomial chaos based approach is compared with the minimax optimization based robust input shaper design approach, which emulates a Monte Carlo process. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Polynomial chaos based design of robust input shapers [texte imprimé] / Singh, Tarunraj, Auteur ; Puneet Singla, Auteur ; Umamaheswara Konda, Auteur . - 2010 . - 13 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 5 (Septembre 2010) . - 13 p. Mots-clés : Chaos  Delay  filters  Design  engineering  Optimisation  Polynomial  approximation  Probability  Springs  (mechanical) Index. décimale : 629.8 Résumé : A probabilistic approach, which exploits the domain and distribution of the uncertain model parameters, has been developed for the design of robust input shapers. Polynomial chaos expansions are used to approximate uncertain system states and cost functions in the stochastic space. Residual energy of the system is used as the cost function to design robust input shapers for precise rest-to-rest maneuvers. An optimization problem, which minimizes any moment or combination of moments of the distribution function of the residual energy is formulated. Numerical examples are used to illustrate the benefit of using the polynomial chaos based probabilistic approach for the determination of robust input shapers for uncertain linear systems. The solution of polynomial chaos based approach is compared with the minimax optimization based robust input shaper design approach, which emulates a Monte Carlo process. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]