가속도가 제한된 유연시스템을 위한 입력성형기

Metadata Downloads
Issued Date
In this thesis, input shaping commands are developed to reduce the transient and residual deflections of flexible systems with acceleration limits. The input shaping techniques have been efficiently employed for the applications in industrial machines, cranes, computer hard disks, control systems with either voice-coil actuators or piezo-actuators, etc. However, it has been suffered from control performance degradation because of no consideration of acceleration limits of actuators. The acceleration limits could be caused from mechanical dynamics, electronic driver or electronic power of actuators so that it is necessary to take care of the acceleration limits to improve the control performance of existing input shaping techniques.
A ramp-step function for velocity profile is used in order to develop new input shapers with respect to acceleration limits. The new input shapers are obtained in closed-form with a vector diagram approach and the superposition principle. At first, it shows that the ZV(zero vibration) shaper with two impulses is not affected by acceleration limits. Then, in order to improve the robustness, a new ZVD(zero vibration differential) shaper is presented. For more robustness of the new ZVD, a new EI(extended insensitivity) shaper is proposed with constraint formulas to ensure the symmetry of sensitivity properties to modeling error. Secondly, On-Off shaped velocity commands are developed with acceleration limits. It presents implementation issues with respect to the accomplishment of designed input velocity commands. Thirdly, deflection-limiting commands with acceleration limits are newly proposed in closed-form with a deflection-limiting formula as a command design criteria.
The new input shapers are evaluated with benchmark models to analyze residual deflection, robustness of system modeling, robustness of design parameters of ramp-step function and transient deflection. Futhermore, the new input shapers are experimentally evaluated and verified with a min-bridge crane.
Alternative Title
Input Shaping Commands for Flexible Systems with Acceleration Limits
Alternative Author(s)
Min Yoon-Sang
일반대학원 기계공학과
Awarded Date
Table Of Contents
목 차

List of Figures Ⅴ
List of Tables Ⅸ
Nomenclature Ⅹ
Abstract Ⅺ

1 입력성형제어방법 및 논문의 구조 1
1.1 입력성형제어방법 1
1.1.1 입력성형제어의 제약조건 3
1.1.2 입력성형제어기 4
1.1.2.a Zero Vibration 입력성형 제어기 5
1.1.2.b 강건한 입력성형제어기 5
1.1.2.c Negative 입력성형 제어기 7
1.1.2.d 과도변위저감 입력성형제어기 7
1.1.3 입력성형제어기의 성능검증 9
1.1.4 Vector Diagram Approach 11
1.2 논문의 구성 12

2 가속도가 제한된 유연시스템을 위한 강건한 입력성형제어기 14
2.1 서론 14
2.2 가속도가 제한된 시스템의 Phasor Vector 16
2.3 가속도제한 입력성형기 개발 19
2.3.1. 가속도 제한을 고려한 ZV 입력성형제어기 19
2.3.1.a ALZV 와 ZV shapers의 비교 21
2.3.2. 가속도 제한을 고려한 ZVD 입력성형 어기 24
2.3.2.a ALZVD shaper 개발 25
2.3.3. 가속도제한을 고려한 EI 입력성형제어기 28
2.3.3.a ALEI shaper 개발 31
2.4 가속도제한 입력성형기 평가 36
2.4.1. ALZVD shaper 분석 37
2.4.2. ALEI shaper 분석 40
2.5 가속도제한입력성형기의 실험적 검증 42
2.5.1. 실험장치 설정 42
2.5.2. 실험결과 43
2.6 결론 47

3 가속도가 제한된 유연시스템을 위한 On-off 입력성형제어기 48
3.1 서론 48
3.2 가속도가 제한된 시스템의 Phasor Vector 50
3.3 가속도 제한을 고려한 UMZV 입력성형제어기 53
3.3.1 ALUMZV shaper의 개발 55
3.4 ALUMZV shaper의 입력성형기 평가 59
3.5 ALUMZV shaper의 입력성형기의 실험적 검증r 63
3.5.1. 실험장치 설정 63
3.5.2. 실험 결과 64
3.6 결론 67

4 가속도가 제한된 유연시스템을 위한 과도변위저감 입력성형제어기 69
4.1 서론 69
4.2 가속도가 제한된 시스템의 Phasor Vector 71
4.3 가속도제한 과도변위 저감 입력성형기 개발 74
4.3.1. 가속도 제한을 고려한 MUMZV 입력성형제어기 74
4.3.1.a ALMUMZV shaper의 개발 76
4.3.1.b ALMUMZV shaper의 과도변위제약조건 80
4.3.2. 가속도 제한을 고려한 High Deflection Limit Zero Vibration 입력성형제어기 83
4.3.2.a AHDLZV shaper의 개발 84
4.3.2.b AHDLZV shaper의 과도변위제약조건 88
4.4 가속도제한 과도변위저감 입력성형제어기 평가 89
4.4.1. ALMUMZV shaper의 분석 90
4.4.2. AHDLZV shaper의 분석 93
4.5 가속도제한 과도변위저감 입력성형기의 실험적 검증 96
4.5.1. 실험장치 설정 96
4.5.2. 실험 결과 99
4.6 결론 103

5 논문의 결론 104

A.1 A Pendulum Model 105
A.2 A Benchmark Model 107

B.1 MUMZV shaper의 과도변위제한 조건식 109
B.2 HDLZV shaper의 과도변위제한 조건식 111

민윤상. (2013). 가속도가 제한된 유연시스템을 위한 입력성형기.
Appears in Collections:
General Graduate School > 3. Theses(Master)
Authorize & License
  • AuthorizeOpen
  • Embargo2014-02-26
Files in This Item:

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.