MINIMIZATION OF RESIDUAL VIBRATIONS IN LUMPED PARAMETER POSITIONERS—A NON-TIME-OPTIMAL BANG–BANG CONTROL
✍ Scribed by U. Nandy; S.N. Sengupta
- Publisher
- Elsevier Science
- Year
- 1996
- Tongue
- English
- Weight
- 256 KB
- Volume
- 196
- Category
- Article
- ISSN
- 0022-460X
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✦ Synopsis
Fast and accurate vibration free positioning requires sophisticated control techniques such as bang-bang switching for a satisfactory solution. While several workers have addressed this problem, it still remains a fact that for controlling an n-degree-of-freedom degenerate system, 2n-1 accurate switches will have to be operated for a time-optimal control. This is at once complex and expensive, and shows high sensitivity to variation in system parameters and switching times. The present proposal is very pragmatic and eliminates the multi-point switching by use of a simple mid-point strategy. The current study on a three-degree-of-freedom (degenerate) system with a three-term Fourier series forcing has documented great benefits, such as robustness to system parameter (mass, stiffness and damping) perturbations and errors in switching time and phase. The control is not time-optimal as it does not use full motor capacity throughout, but the same will be welcomed in most applications where cost-effectiveness, reliability and hardware simplicity are prime considerations.