Title :
Advanced input shaping filter 3D virtual laboratory
Author :
Reitinger, Jan ; Cech, Martin ; Goubej, M.
Author_Institution :
Dept. of Cybern., Univ. of West Bohemia, Plzen, Czech Republic
Abstract :
In this paper, a 3D virtual laboratory presenting all features of advanced input shaping filter is described. By proper choice of filter coefficients, various design requirements can be achieved (damping at given frequencies, bandwidth, robustness to uncertainties, etc.). Hence, one can handle the trade-off between the filter performance and signal delay which is added to the loop. The filter principle can be evaluated on gantry crane 3D model by using virtual laboratory. The control aim is to avoid load oscillations during load transport. The shaping filter works as a band stop filter which attenuates the natural frequency by modifying setpoint changes. The 3D crane model development is based on Java3D package (rendering package) and a VRML (Virtual Reality Modeling Language) Java loader which creates a bridge between the CAD system and the rendering engine. The interactive tool is freely accessible at www.contlab.eu. The authors believe that the virtual lab may be useful for both academic and industrial sphere.
Keywords :
CAD; Java; band-stop filters; computer aided instruction; control engineering computing; control engineering education; cranes; design engineering; rendering (computer graphics); software packages; solid modelling; vibration control; virtual instrumentation; virtual reality languages; 3D crane model development; 3D virtual laboratory; CAD system; Java3D package; VRML Java loader; Virtual Reality Modeling Language; advanced input shaping filter; band-stop filter; design requirements; filter coefficients; filter performance; filter principle; gantry crane 3D model; interactive tool; load transport; natural frequency attenuation; rendering engine; rendering package; setpoint change modification; signal delay; Cranes; Design automation; Java; Laboratories; Load modeling; Mathematical model; Solid modeling; Input shaping filter; VRML; spherical pendulum; vibration damping; virtual laboratory; web-based education;
Conference_Titel :
Process Control (PC), 2013 International Conference on
Conference_Location :
Strbske Pleso
Print_ISBN :
978-1-4799-0926-1
DOI :
10.1109/PC.2013.6581465