Systems that exhibit flexible dynamics are widespread and present a very challenging control problem when their performance is pushed to the limit. If there is some knowledge of the flexible modes, then command signals can be generated to negate the detrimental dynamics. These vibration-reducing commands are dependent on the feedback controller gains because the gains influence the flexible modes. This paper presents a method for concurrently designing a PD feedback controller and a command generator so that performance is optimized. The design method takes into account limits on allowable overshoot, residual vibration, and actuator effort. Furthermore, the structure of the method allows a wide range of performance requirements, such as disturbance rejection, to be integrated into the design. Results demonstrate that a PD controller cannot achieve the same performance as a PD controller augmented with a command generator.
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September 2002
Technical Papers
Concurrent Design of Input Shaping and Proportional Plus Derivative Feedback Control
Michael Kenison,
Michael Kenison
Development Engineer, Schlumberger, 14910 Airline Road, Rosharon, TX 77583
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William Singhose
William Singhose
Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Search for other works by this author on:
Michael Kenison
Development Engineer, Schlumberger, 14910 Airline Road, Rosharon, TX 77583
William Singhose
Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division September 2000. Associate Editor: C. Rahn.
J. Dyn. Sys., Meas., Control. Sep 2002, 124(3): 398-405 (8 pages)
Published Online: July 23, 2002
Article history
Received:
September 1, 2000
Online:
July 23, 2002
Citation
Kenison, M., and Singhose, W. (July 23, 2002). "Concurrent Design of Input Shaping and Proportional Plus Derivative Feedback Control ." ASME. J. Dyn. Sys., Meas., Control. September 2002; 124(3): 398–405. https://doi.org/10.1115/1.1486009
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