TY - GEN
T1 - An Improved Extra-Insensitive Input Shaper with feed-forward compensation for Servo Systems
AU - Cao, Jia
AU - Yang, Ming
AU - Ni, Qinan
AU - Xu, Dianguo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - For servo systems, industrial robots and other devices, elastic connection devices are often used. These devices will introduce vibration points, which exacerbates the vibration at the end of the load when the servo system is positioned. Therefore, it is important to suppress the vibration at the positioning end. Although the traditional EI (Extra-Insensitive) input shaper suppression algorithm is effective, it will cause the time lag and reduce the dynamic follow-up performance of the servo system. This paper proposes a feed-forward compensation algorithm to improve the traditional EI input shaper and shorten its time lag. Simulations confirmed the effectiveness of the algorithm.
AB - For servo systems, industrial robots and other devices, elastic connection devices are often used. These devices will introduce vibration points, which exacerbates the vibration at the end of the load when the servo system is positioned. Therefore, it is important to suppress the vibration at the positioning end. Although the traditional EI (Extra-Insensitive) input shaper suppression algorithm is effective, it will cause the time lag and reduce the dynamic follow-up performance of the servo system. This paper proposes a feed-forward compensation algorithm to improve the traditional EI input shaper and shorten its time lag. Simulations confirmed the effectiveness of the algorithm.
KW - feed-forward compensation
KW - input shaper
KW - trajectory planning
KW - vibration suppression
UR - https://www.scopus.com/pages/publications/85062061008
U2 - 10.1109/ESARS-ITEC.2018.8607364
DO - 10.1109/ESARS-ITEC.2018.8607364
M3 - 会议稿件
AN - SCOPUS:85062061008
T3 - 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2018
BT - 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2018
Y2 - 7 November 2018 through 9 November 2018
ER -