Analysis of Embedded Prefilters in Motion Profiles

被引：28

作者：

Ha, Chang-Wan ^{[1
]}

Lee, Dongwook ^{[2
]}

机构：

[1] KIMM, Dept Magnet Levitat & Linear Drive, Daejeon 34103, South Korea

[2] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon 34141, South Korea

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2018年 / 65卷 / 02期

关键词：

Motion control; prefilter; residual vibration; robustness; S-curve; trapezoidal velocity profile; VIBRATION REDUCTION; INPUT; SUPPRESSION;

D O I：

10.1109/TIE.2017.2726959

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this study, representative motion profiles are analyzed to explain why smoother movement can enable a system to be silent, accurate, and reliable. Previous studies have indicated that abrupt changes in motion profiles are sources of system vibration and are directly connected to performance such as degraded efficiency and decreased machine's lifetime. Therefore, efforts to generate smoother motion profiles based on various functions such as polynomial and trigonometric functions are ongoing. However, a comprehensive analytical comparison of previous studies has not been performed. In this study, the relationship between the design of the motion profiles and their characteristics is analyzed in Laplace domain with well-defined comparison tools that are frequently employed in input shaping technique. From the analysis, the characteristics of each motion profile and the tradeoffs between the cost and benefit of generating smoother movement can be explained.

引用

页码：1481 / 1489

页数：9

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