UM Shaper Command Inputs for CRONE Control: Application on a DC Motor Bench
This study proposes an approach to synthesize a three-impulse sequence input shaper with a negative impulse, known as Unity Magnitude (UM) shaper. The corresponding analytic model has been already achieved for undamped and low-damped systems. In this paper, the analytic design of UM shaper is demons...
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Veröffentlicht in: | Mathematical problems in engineering 2021, Vol.2021, p.1-11 |
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Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | This study proposes an approach to synthesize a three-impulse sequence input shaper with a negative impulse, known as Unity Magnitude (UM) shaper. The corresponding analytic model has been already achieved for undamped and low-damped systems. In this paper, the analytic design of UM shaper is demonstrated for the generalized case of damped systems for both types: integer and fractional orders. Hence, the UM shaper model has been designed for second-order systems with damped dynamics, associating a graphical fitting and an analytical procedure; then, it has been extended to explicit fractional derivative systems. Moreover, the feasibility and the effectiveness of the proposed on-off profile prefilter applied on a second-generation controller have been substantiated by experimental results on an instrumented DC motor bench. |
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ISSN: | 1024-123X 1563-5147 |
DOI: | 10.1155/2021/9935875 |