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Research Papers

Pole-Zero, Zero-Pole Canceling Input Shapers

[+] Author and Article Information
Tarunraj Singh

Fellow ASME Department of Mechanical and Aerospace Engineering, SUNY at Buffalo, Buffalo, NY 14260

J. Dyn. Sys., Meas., Control 134(1), 011015 (Dec 05, 2011) (10 pages) doi:10.1115/1.4004576 History: Received August 13, 2010; Revised April 01, 2011; Accepted April 12, 2011; Published December 05, 2011; Online December 05, 2011

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.

Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

Variation of switch time versus 1α

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Figure 2

Variation of gains versus 1α

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Figure 3

Postactuated time-delay filter: (a) evolution of states; (b) control profile

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Figure 4

Variation of switch time versus 1α

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Figure 5

Variation of gains versus 1α

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Figure 6

Variation of gains versus T

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Figure 7

Variation of normalized gains versus T

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Figure 8

Variation of positive normalized gains versus T

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Figure 9

Variation of switch time versus φ-ψ

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Figure 10

Variation of gains versus φ-ψ

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Figure 11

Postactuated time-delay filter: (a) evolution of states; (b) control profile

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Figure 12

Variation of switch time versus α – β

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Figure 13

Variation of gains versus α – β

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Figure 14

Postactuated time-delay filter: (a) evolution of states; (b) control profile

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Figure 15

Postactuated time-delay filter: (a) evolution of states; (b) control profile

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Figure 16

Elevator deflection profile

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Postactuation reference profiles

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Figure 18

Elevator deflection profiles

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Figure 19

Comparison of the nonrobust and robust postactuation filters: (a) output (nonrobust); (b) output (robust)

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