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Optimal unity-magnitude input shaper duration analysis

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Abstract

Command profiles are required to move a dynamical system from rest to rest without residual vibration in a minimum time. The unity-magnitude (UM) input shaper is one of the faster input shaping techniques. However, analytical solution of the impulse time locations is impossible due to the dependent residual vibration constraint equations. Many researchers solve these by using curve fitting. In this paper, the characteristics of the UM shaping coefficients as a function of system parameters are investigated. An analysis procedure to obtain UM input shaper impulse time sequences is presented. Finally, the proposed technique is compared to the zero vibration (ZV) shaper in both response and robustness to modeling error.

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Abbreviations

V :

residual vibration

A i :

impulse amplitude

t i :

time location (s)

ω:

vibration frequency (Hz)

ξ:

damping ratio

n :

number of impulses

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Authors and Affiliations

  1. Electric–Electronic Engineering Department, Zonguldak Karaelmas University, 67100, Zonguldak, Turkey

    Sırrı Sunay Gürleyük

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  1. Sırrı Sunay Gürleyük
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Correspondence to Sırrı Sunay Gürleyük.

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Gürleyük, S.S. Optimal unity-magnitude input shaper duration analysis. Arch Appl Mech 77, 63–71 (2007). https://doi.org/10.1007/s00419-006-0080-2

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  • DOI: https://doi.org/10.1007/s00419-006-0080-2

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