DocumentCode
2080885
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
Volume
5
fYear
2002
fDate
2002
Firstpage
4068
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2002. Proceedings of the 2002
ISSN
0743-1619
Print_ISBN
0-7803-7298-0
Type
conf
DOI
10.1109/ACC.2002.1024566
Filename
1024566
Link To Document