Input shaping for a simple nonlinear system
Input shaping for a simple nonlinear system
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简单非线性系统的输入整形
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
W. Singhose
中科院分区：
文献类型：
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作者：
Jonathan Y. Smith;K. Kozak;W. Singhose
输入整形是一种用于减少系统振动的命令修改技术，已在许多机械系统上成功实施。输入整形是从线性系统理论发展而来的，但它已成功应用于许多非线性系统。在用于塑造非线性系统命令的方法中，很少有人直接解决系统的特定非线性问题。本文讨论了依赖于配置的非线性的一个特殊子集。分析了输入整形对这些类型系统的影响，并提取了关键运动命令参数。该分析用于为此处考虑的非线性系统类别设计有效的零振动输入整形器。
Input shaping is a command modification technique for reducing system vibration that has been implemented successfully on a number of mechanical systems. Input shaping was developed from linear systems theory, but it has been applied successfully to many nonlinear systems. Of the approaches used to shape commands for nonlinear systems, very few address the specific nonlinearities of the systems directly. This paper addresses a special subset of configuration-dependent nonlinearities. The effect of input shaping on these types of systems is analyzed and key motion command parameters are extracted. This analysis is utilized to design effective zero-vibration input shapers for the class of nonlinear systems considered here.