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IMPLEMENTATION OF INPUT SHAPING ON FLEXIBLE MACHINES WITH INTEGER CONTROLLERS
Gerardo Peláez* William E. Singhose**
* Department of Mechanical Engineering,
ETSII University of Vigo,
36200 Vigo.
** School of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332USA.
This paper presents an input shaping method for building in real time a shaped velocity profile according to an integer algorithm well suited for low cost microcontrollers that determines the command reference signal at each interpolation step. This integer implementation has the drawback of slightly reduced shaping robustness. However experimental results confirm residual vibration reduction when robust shapers are used in the integer input shaping process.
Keywords: Vibration, Input signals, Shaping Filters
Session slot T-Th-A19: Mechatronic vibration and flexibility control/Area code 1g : Mechatronics Systems
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