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Deflection-Limiting Commands to Slew Flexible Systems with Velocity Limits
Yoon-Gyung Sung,William E. Singhose 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A new method to generate deflection-limiting commands for flexible systems with actuator velocity limits is presented and evaluated. In addition to limiting transient deflection, the command profiles reduce residual vibration for rest-to-rest motion of oscillatory systems with one dominant mode. A beneficial advantage of the command profiles is that they are described by closed-form functions of the system frequency, deflection-limiting ratio, velocity limit, actuator force-to-mass ratio, and desired move distance. The performance of the commands is evaluated with respect to move duration, transient oscillation energy, maximum transient deflection, and robustness to modeling errors. The proposed approach is illustrated with a numerical simulation of a benchmark system.
A Feedback Control System for Suppressing Crane Oscillations with On-Off Motors
Keith A. Hekman,William E. Singhose 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.3
Crane payloads frequently swing with large amplitude motion that degrades safety and throughput. Open-loop methods have addressed this problem, but are not effective for disturbances. Closed-loop methods have also been used, but generally require the speed of the driving motors to be precisely controlled. This paper develops a feedback control method for controlling motors to cancel the measured payload oscillations by intelligently timing the ensuing on and off motor commands. The effectiveness of the oscillation suppression scheme is experimentally verified on an industrial bridge crane.