TY - GEN
T1 - Trajectory Error Eliminates of Input Shaping on X-Y Platform by Phase Erro Feedforward Control
AU - Sun, Yongping
AU - Yang, Ming
AU - Chen, Yangyang
AU - Long, Jiang
AU - Cao, Jia
AU - Xu, DIanguo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - In this paper, the servo system mechanical drive is analyzed, flexible beam vibration will cause end point trajectory distortion. Simplify the flexible beam load as a second-order system, which is a low frequency light damped vibration system, the ZVD input shaper which is very suitable for vibration suppression of low frequency light damping system is adopted. Due to the different vibration frequencies and damping coefficients of the X-Y platform flexible load, the X-axis and Y-axis input shapers cause different command lags, which can cause trajectory distortion. The adaptive feedforward controller based on phase angle error is used to solve trajectory distortion problem. Combined with the input shaper and adaptive feedforward control based on phase error, it can solve the vibration suppression of X-axis and Y-axis flexible load with different vibration characteristics, and can guarantee the track accuracy. Finally, the effectiveness of the algorithms is verified by simulation.
AB - In this paper, the servo system mechanical drive is analyzed, flexible beam vibration will cause end point trajectory distortion. Simplify the flexible beam load as a second-order system, which is a low frequency light damped vibration system, the ZVD input shaper which is very suitable for vibration suppression of low frequency light damping system is adopted. Due to the different vibration frequencies and damping coefficients of the X-Y platform flexible load, the X-axis and Y-axis input shapers cause different command lags, which can cause trajectory distortion. The adaptive feedforward controller based on phase angle error is used to solve trajectory distortion problem. Combined with the input shaper and adaptive feedforward control based on phase error, it can solve the vibration suppression of X-axis and Y-axis flexible load with different vibration characteristics, and can guarantee the track accuracy. Finally, the effectiveness of the algorithms is verified by simulation.
KW - Vibration suppression
KW - input shaping Adaptive feedforward control
KW - servo system
UR - https://www.scopus.com/pages/publications/85077109440
U2 - 10.1109/ICEMS.2019.8922395
DO - 10.1109/ICEMS.2019.8922395
M3 - 会议稿件
AN - SCOPUS:85077109440
T3 - 2019 22nd International Conference on Electrical Machines and Systems, ICEMS 2019
BT - 2019 22nd International Conference on Electrical Machines and Systems, ICEMS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 22nd International Conference on Electrical Machines and Systems, ICEMS 2019
Y2 - 11 August 2019 through 14 August 2019
ER -