Title :
An analytical solution for a zero vibration input shaper for systems with Coulomb friction
Author :
Lawrence, Jason ; Singhose, William ; Hekman, Keith
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
Systems with actuator limits and Coulomb friction are examined with the goal of moving the system in a point-to-point motion as quickly as possible with very little vibration or steady state error. An input shaper is designed to compensate for the nonlinear effects of Coulomb friction. This shaper makes it possible to increase the proportional gain to move the system quickly without the detrimental effects of increased vibration. Experimental tests on a solder cell machine validate the proposed solution.
Keywords :
compensation; control nonlinearities; friction; nonlinear dynamical systems; position control; two-term control; vibration control; Coulomb friction; actuator limits; nonlinear effects compensation; point-to-point motion; proportional gain; solder cell machine; zero vibration input shaper; Actuators; Control systems; Friction; Lead; Mechanical engineering; Motion analysis; Nonlinear dynamical systems; PD control; Steady-state; Vibrations;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024566
