1 / 15

Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004

Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004. J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence. Outline. Project Description and Justification Results Future Research Questions. Input Shaping Theory. ZV Shaper:. UM-ZV Shaper:.

cailean-kerrane
Download Presentation

Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Robustness of Input Shaping to Nonlinear Drive Dynamics29 November 2004 J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence

  2. Outline • Project Description and Justification • Results • Future Research • Questions

  3. Input Shaping Theory ZV Shaper: UM-ZV Shaper:

  4. Current input shapers assume linear dynamics Problem Statement

  5. Unequal Rise/Fall Times inhibit shaper effectiveness Problem Statement

  6. Goal • Characterize non-linear performance of current input shapers • Evaluate new, robust input shaper

  7. No Shaping

  8. ZV Shaping

  9. UMZV Shaping

  10. Modified UMZV Shaper

  11. Comparison With No Shaping

  12. Comparison with ZV Shaper

  13. Comparison with UMZV Shaper

  14. Future Work • Retest modified UM-ZV shaper under exponential motor drive. • Expand space to investigate faster rise and fall times.

  15. Questions??

More Related