Input design for optimal discrete time point-to-point motion of an industrial XY-positioning table
Input design for optimal discrete time point-to-point motion of an industrial XY-positioning table
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DOI：
10.1109/cdc.2000.912887
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发表时间：
2000-12
期刊：
影响因子：
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通讯作者：
B. G. Dijkstra;Niad J. Rambaratsingh-;C. Scherer;O. Bosgra;M. Steinbuch;Sander Kerssemakers-
中科院分区：
文献类型：
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作者：
B. G. Dijkstra;Niad J. Rambaratsingh-;C. Scherer;O. Bosgra;M. Steinbuch;Sander Kerssemakers-
针对寄生系统振动激励最小的点对点控制问题，提出了一种设计输入信号的方法。在工业XY定位工作台上进行的实验中，将该技术与基于脉冲的输入设计技术进行了比较。脉冲输入整形被描述为优化问题的解决方案，该优化问题已被转化为点对点问题，从而产生更具时间最优性的解。考虑到简单性，这种新优化的结果是非常令人印象深刻的。
A technique is presented to design input signals for point-to-point control problems with the property of minimal excitation of parasitic system oscillations. This technique is compared to impulse based input design techniques in experiments performed on an industrial XY-positioning table. Impulse input shaping was formulated as a solution to an optimisation problem, which has been transformed for the case of point-to-point problems, resulting in a more time-optimal solution. The results from this new optimisation are very impressive considering the simplicity.