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TECHNICAL PAPERS

Maximally Robust Input Preconditioning for Residual Vibration Suppression Using Low-Pass FIR Digital Filters

[+] Author and Article Information
D. Economou

Mechanical Design and Control Systems Division, Department of Mechanical Engineering, National Technical University of Athens, Athens, Greecee-mail: dim_economou@yahoo.com

C. Mavroidis

Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Rd., Piscataway, NJ 08854-8058e-mail: mavro@jove.rutgers.edu

I. Antoniadis

Mechanical Design and Control Systems Division, Department of Mechanical Engineering, National Technical University of Athens, Athens, Greecee-mail: antogian@central.ntua.gr

C. Lee

Department of Mechanical and Aerospace Engineering, Rutgers University; Currently, Senior Research Engineer at General Motorse-mail: chunhao.j.lee@gm.com

J. Dyn. Sys., Meas., Control 124(1), 85-97 (Jul 27, 2000) (13 pages) doi:10.1115/1.1434272 History: Received July 27, 2000
Copyright © 2002 by ASME
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References

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Figures

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Case C: beam vibration with 40 gr. additional mass
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Case D: beam vibration with 20 gr. additional mass
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Case E: beam vibration with no additional mass
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The Rutgers University experimental system
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(a) Rotation of the flexible beam using one joint of the manipulator; (b) original and preconditioned guidance functions
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Filter frequency responses with respect to the normalized frequency f/f0 for the three filters used in the experiments: (a) Parks-McClellanFilter, (b) Chebyshev Window Method, and (c) constrained least squares filter (f0=2.5 Hz).
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Case A: beam vibration with 200 gr. additional mass
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Case B: beam vibration with 100 gr. additional mass
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Typical frequency response of a low-pass filter
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Algorithm to generate the delay-error-order (DEO) curves for FIR filters
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Delay-error-order (DEO) curves for FIR filters designed using the following methods. (a) Constrained least squares method, (b) window-based method (Chebyshev Window), (c) Parks-McClellan method, and (d) window-based method (Hamming Window).
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Relative robustness rR for FIR filters designed using the following methods. (a) Constrained least squares method, (b) window-based method (Chebyshev Window), (c) Parks-McClellan method, and (d) window-based method (Hamming Window).
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Relative robustness width rW for FIR filters designed using the following methods. (a) Constrained least squares method, (b) window-based method (Chebyshev Window), (c) Parks-McClellan method, and (d) window-based method (Hamming Window).  

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