Deflection-limiting commands with 1st-order actuators

In this paper, deflection-limiting commands are presented with 1st-order actuators to reduce the transient and residual deflection for flexible systems during rest-to-rest operations. The effects of nonlinear actuators are resulting from electrical driver, mechanical inertia, friction, or etc. The command profiles are developed with a vector diagram approach by adjusting the final command magnitude for start motion to reduce the transient deflection. They are described by closed-form functions with the system frequency, deflection-limiting ratios, actuator maximum velocity and actuator time constants. The proposed controller is evaluated with respect to pulse durations, deflection-limiting ratios and sensitivity. The performance of the proposed commands is numerically illustrated with a benchmark system and is experimentally evaluated on a mini bridge crane.