robustness of input shaping to nonlinear drive dynamics 29 november 2004
DESCRIPTION
Robustness of Input Shaping to Nonlinear Drive Dynamics 29 November 2004. J. Atwood & A. Reich Professor W. Singhose GTA: J. Lawrence. Outline. Project Description and Justification Results Future Research Questions. Input Shaping Theory. ZV Shaper:. UM-ZV Shaper:. - PowerPoint PPT PresentationTRANSCRIPT
Robustness of Input Shaping to Nonlinear Drive
Dynamics
29 November 2004
J. Atwood & A. ReichProfessor W. Singhose
GTA: J. Lawrence
Comparison with UMZV Shaper
0
20
40
60
80
100
Time
Vel
ocity
(% o
f Max
)
Linear Rise, rise time=tr Exponential Rise, time constant=τ
Future Work
Retest modified UM-ZV shaper under exponential motor drive.
Expand space to investigate faster rise and fall times.