Asymmetrical inputs for minimizing residual response

An input motion design procedure for minimizing residual response and settling time of a point-to-point electro-mechanical device at high speeds is presented. It is based on the synthesis of asymmetrical S-curve motion programs with fast acceleration and slow deceleration as the input of AC servo motors to improve the kinematic and dynamic performance of the positioning device. Experimental results are presented which illustrate the effectiveness of the proposed strategy and improved performance of the positioning device as compared to cases where conventional inputs are used.