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Input shaping is one of the most common methods of preventing oscillations in electromechanical systems. The tuning of input shaping may be problematic in black boxes, systems with nonlinearities, and more complicated plants. The autotuning algorithms using bioinspired methods are capable to solve those problems. The main idea of its usage is presented in the paper. The comparison with analytical...
Many various mechanical systems such as robotic arms, conveyer drives, multimass systems contain flexible joints. Because of described feature these objects are vulnerable for oscillations. To reduce its occurrence input shaping method might be used. The algorithm of input shaping is very simple to use, provides good effects and doesn't require the changes in control loop. The algorithm's work is...
Multiple mechanical systems are vulnerable for oscillations. Its occurrence is very unwanted in systems. The Input Shaping method might be used for control the object without of oscillations stimulation. The fuzzy logic control might be used, when the information about object are not well known or uncertain. Usually this kind of control grants proper work of whole system. The common work of both proposed...
Many mechanical systems are characterized by flexible joints. These kinds of systems are often exposed for mechanical oscillations. These objects are represented by cranes, long manipulator's arms or conveyors drives. All these objects can be approximated by multi-mass systems. To avoid the oscillations the input shaper method can be used. The main control strategies are usually based on PID controllers...
Input shaping is a simple method used to avoid oscillations in mechanical systems. The usage of this method is very simple and doesn't require complicated elements in runtime. The main problem of input shaping is the proper identification of natural oscillation frequencies and damping coefficients. The paper shows two algorithms of auto identification and auto tuning of input shapers. Algorithms were...
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