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유연체 모션시스템의 진동억제를 위한 명령성형필터의 시간지연 값 학습
박주한(J.-H .Park),임성수(S.S.Rhin),이순걸(S.-G.Lee) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
The performance of the direct adaptive time-delay filter depends on the select time-delay. In this paper, the authors introduce a new scheme to adapt the time-delay which is to be used in conjunction with the direct adaptive command shaping for the improved vibration suppression in flexible motion system. In order to formulate the time-delay adaptation scheme, the authors have analyzed the effect of the time-delay value on the performance of the direct adaptive command shaping filter. By modifying the direct adaptation formula based on the analysis result the authors have established a set of equations to adapt the time-delay toward the optimal value. Simulation results show the effectiveness of the proposed time-delay adaptation approach for the improved vibration suppression.