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Research Papers

Application of Combined Feedforward and Feedback Controller With Shaped Input to Benchmark Problem

[+] Author and Article Information
Young Joo Shin

Memory Division, SAMSUNG Electronics Co., LTD., Hwasung-City, Gyeonggi-Do 445-701, Korea

Peter H. Meckl

School of Mechanical Engineering, Purdue University, 585 Purdue Mall, West Lafayette, IN 47907-2088

J. Dyn. Sys., Meas., Control 132(2), 021001 (Feb 02, 2010) (8 pages) doi:10.1115/1.4000651 History: Received October 22, 2007; Revised August 12, 2009; Published February 02, 2010; Online February 02, 2010

Benchmark problems have been used to evaluate the performance of a variety of robust control design methodologies by many control engineers over the past 2 decades. A benchmark is a simple but meaningful problem to highlight the advantages and disadvantages of different control strategies. This paper verifies the performance of a new control strategy, which is called combined feedforward and feedback control with shaped input (CFFS), through a benchmark problem applied to a two-mass-spring system. CFFS, which consists of feedback and feedforward controllers and shaped input, can achieve high performance with a simple controller design. This control strategy has several unique characteristics. First, the shaped input is designed to extract energy from the flexible modes, which means that a simpler feedback control design based on a rigid-body model can be used. In addition, only a single frequency must be attenuated to reduce residual vibration of both masses. Second, only the dynamics between control force and the first mass need to be considered in designing both feedback and feedforward controllers. The proposed control strategy is applied to a benchmark problem and its performance is compared with that obtained using two alternative control strategies.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

Two-mass system for the benchmark problem

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Figure 2

Interaction of control components

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Figure 3

Block diagram of the proposed control system

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Figure 4

Process to generate shaped reference force and position input

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Figure 5

Block diagram of the CFC approach

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Figure 6

Shaped force input uc for the benchmark problem

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Figure 7

Frequency spectrum of the shaped force input uc for the benchmark problem

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Figure 8

Root-locus of the benchmark problem when CFFS is used

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Figure 9

Root-locus of the benchmark problem when the spring constant k has model error

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Figure 10

Position responses of the first mass

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Figure 11

Control force inputs u

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Figure 12

Shaped force inputs depending on ωoTr/2π

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Figure 13

Position responses of the second mass

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Figure 14

Frequency spectra corresponding to control force inputs u

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