| Title:
|
Genetic algorithm based method of elimination of residual oscillation in mechatronic systems (English) |
| Author:
|
Hubinský, Peter |
| Author:
|
Jurišica, Ladislav |
| Author:
|
Vranka, Branislav |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 |
| Volume:
|
41 |
| Issue:
|
5 |
| Year:
|
2005 |
| Pages:
|
[623]-636 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
The paper presents control signals generation methods, preventing the excitation of residual vibration in slightly damped oscillational systems. It is focused on the feedforward methods, as most of the vibrations in examined processes are induced by the control, while the influence of disturbances is mostly negligible. Application of these methods involves ensuring of the insensitivity to natural frequency change, which can be reached in classical approach only by considerable increase of transient response duration. Genetic algorithms can be effectively applied for the numerical optimization of developed shaper while maintaining the insensitivity to parameter change and short time delay. (English) |
| Keyword:
|
elimination of residual vibration |
| Keyword:
|
input signal shaping |
| Keyword:
|
genetic algorithm |
| MSC:
|
90C59 |
| MSC:
|
93B40 |
| MSC:
|
93C83 |
| MSC:
|
93C95 |
| MSC:
|
93D15 |
| idZBL:
|
Zbl 1249.93127 |
| idMR:
|
MR2192427 |
| . |
| Date available:
|
2009-09-24T20:11:59Z |
| Last updated:
|
2015-03-23 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/135682 |
| . |
| Reference:
|
[1] Hubinský P.: Reducing of robot end-effector residual oscillations by means of control shaping.J. Electr. Engrg. 49 (1998), 129–133 |
| Reference:
|
[2] Hubinský P., Jurišica L.: Reducing of robot end effector residual vibration by means of control signal shaping.In: Internat. Conference on Electrical Drives and Power Electronics, Technical University of Košice, 1994 |
| Reference:
|
[3] Hubinský P., Vranka B.: Genetic algorithm based method of residual oscillation elimination in 2-dimensional positioning systems.In: SSKI Conference Kybernetika a informatika, Trebišov 2002 |
| Reference:
|
[4] Hubinský P., Vranka B.: Input shaping preventing the excitation of oscillation applied to the Voronoi diagram planned path.AT&P Journal, 2004 |
| Reference:
|
[5] Ivanov I., Hubinský P.: Control of a cantry cart with elimination of residual oscillation.In: 4th Internat. Scientific-Technical Conference, Process Control 2000, Kouty pod Desnou |
| Reference:
|
[6] Meckl P. H., Seering W. P.: Minimizing residual vibration for point-to-point motion.Trans. ASME J. Vibration, Acoustic, Stress and Reliability in Design 4 (1985), 378–382 10.1115/1.3269276 |
| Reference:
|
[7] Singhose W. E., Seering W. P., Singer N. C.: Shaping inputs to reduce vibration: A vector diagram approach.IEEE J. (1990), 922–927 |
| Reference:
|
[8] Smith O. J.: Posicast control of damped oscillatory systems.Proc. Inst. Radio Engrg. 45 (1957), 1249–1255 |
| Reference:
|
[9] Smith J. Y., Kozák, K., Singhose W. E.: Input shaping for a simple nonlinear system.In: Proc. American Control Conference, Anchorage, AK, May 2002 |
| Reference:
|
[10] Vranka B.: On-line Method of Elimination of Vibration in Mechatronic Systems.Diploma Thesis (in Slovak). Faculty of Electrical Engineering, Slovak Technical University, Bratislava 2001 |
| Reference:
|
[11] Vranka B., Gruhler G.: Input-Shaping Methode zur Regelung von schwingungsfähigen Systems.A&D Compendium 2005. Publish Industry |
| Reference:
|
[12] Závodský M., Hubinský P.: Elimination of residual vibration of pendulum mechanizm.AT&P J. Plus – Robotics, Mechatronics, Discrete Manufacturing Systems (2001), 26–29 |
| . |
