학술논문
입력성형 실험장치 구현과 적분입력성형기를 이용한 잔류진동제거 / Implementation of an input shaping experimental device and residual vibration removal using an integral input shaper
Document Type
Dissertation/ Thesis
Author
Source
Subject
Language
Korean
Abstract
이차시스템에서의 잔류진동제거는 매우 중요하다. 이때 사용되는 제어기법으로 입력성형제어가 있다. 하지만 기존 입력성형기들은 높은 모델링오차에서의 낮은 견실성과 과도구간에서의 큰 진동이 발생하는 문제, 성형 후에도 입력이 구동부에 의해 제대로 구현되기 힘든 입력을 생성하는 문제를 가지고 있다. 본 논문에서는 임펄스벡터를 이용하여 이 문제들을 개선할 수 있는 새로운 입력성형기인 적분입력성형기를 제안하였으며, 이를 실험할 수 있는 장치를 구현하여 MATLAB 시뮬레이션과 실험을 통해 다양한 입력성형기와 비교하여 적분입력성형기의 성능을 증명하였다.
Residual vibration removal in a second order system is very important. One of the control techniques used for this purpose is input shaping control. However, traditional input shaping controls have problems such as low robustness in high modeling errors and large vibrations in the transient phase. Additionally, shaped inputs are difficult to implement accurately by the actuator even after shaping. In this paper, using impulse vectors, we propose a new input shaper called integral input shaper. To validate its performance, we simulate in MATLAB and implement an experimental device for experiment to compare the integral input shaper with various other input shapers.
Residual vibration removal in a second order system is very important. One of the control techniques used for this purpose is input shaping control. However, traditional input shaping controls have problems such as low robustness in high modeling errors and large vibrations in the transient phase. Additionally, shaped inputs are difficult to implement accurately by the actuator even after shaping. In this paper, using impulse vectors, we propose a new input shaper called integral input shaper. To validate its performance, we simulate in MATLAB and implement an experimental device for experiment to compare the integral input shaper with various other input shapers.