Input shaping

Input shaping

Input Shaping is a control technique for reducing vibrations in computer controlled machines. The method works by creating a command signal that cancels its own vibration. That is, vibration caused by the first part of the command signal is canceled by vibration caused by the second part of the command. Input shaping is implemented by convolving a sequence of impulses, an input shaper, with any desired command. The shaped command that results from the convolution is then used to drive the system. If the impulses in the shaper are chosen correctly, then the system will respond without vibration to any unshaped command. The amplitudes and time locations of the impulses are obtained from the system's natural frequencies and damping ratios. Shaping can be made very robust to errors in the system parameters. [citebook|title=Flexible Robot Dynamics and Controls|author= Rush D. Robinett, Rush D. Robinett III, John Feddema, G. Richard Eisler, Clark Dohrmann, Gordon G. Parker, David G. Wilson, Dennis Stokes|publisher=Springer|year= 2001|id=ISBN 0306467240]

References


Wikimedia Foundation. 2010.

Игры ⚽ Поможем написать реферат

Look at other dictionaries:

  • Noise shaping — is a technique typically used in digital audio, image, and video processing, usually in combination with dithering, as part of the process of quantization or bit depth reduction of a digital signal. Its purpose is to increase the apparent signal… …   Wikipedia

  • Femtosecond pulse shaping — In optics, Femtosecond pulse shaping refers to various techniques to modify the temporal profile of an ultrashort pulse from a laser. Pulse shaping can be used to shorten/elongate the duration of optical pulse, or to generate more complex… …   Wikipedia

  • H-infinity loop-shaping — is a design methodology in modern control theory. It combines the traditional intuition of classical control methods with H infinity optimization techniques to achieve controllers whose stability and performance properties hold good in spite of… …   Wikipedia

  • Marcello Romano — Dr. Marcello Romano is a professor of astronautics at the Naval Postgraduate School. His research interests are on dynamics and control of spacecraft and robot. He worked on the problem of control of a multibody spacecraft by control moment… …   Wikipedia

  • List of mathematics articles (I) — NOTOC Ia IA automorphism ICER Icosagon Icosahedral 120 cell Icosahedral prism Icosahedral symmetry Icosahedron Icosian Calculus Icosian game Icosidodecadodecahedron Icosidodecahedron Icositetrachoric honeycomb Icositruncated dodecadodecahedron… …   Wikipedia

  • Delta-sigma modulation — Delta sigma (ΔΣ; or sigma delta, ΣΔ) modulation is a method for encoding high resolution or analog signals into lower resolution digital signals. The conversion is done using error feedback, where the difference between the two signals is… …   Wikipedia

  • Control theory — For control theory in psychology and sociology, see control theory (sociology) and Perceptual Control Theory. The concept of the feedback loop to control the dynamic behavior of the system: this is negative feedback, because the sensed value is… …   Wikipedia

  • Buchla 200e — The Buchla 200e is a modular analog synthesizer designed by electronic music pioneer Don Buchla and built by Buchla and Associates. Modules 200e synthesizer platform includes several modules that roughly correspond to the canonical analog… …   Wikipedia

  • Digital-to-analog converter — For digital television converter boxes, see digital television adapter. 8 channel digital to analog converter Cirrus Logic CS4382 as used in a soundcard. In electronics, a digital to analog converter (DAC or D to A) is a device that converts a… …   Wikipedia

  • Dither — For other uses, see Dither (disambiguation). Provincial definition of to dither from The Rural Economy of Yorkshire: Comprizing the Management of Landed Estates, and the Present Practice of Husbandry in the Agricultural Districts of that County,… …   Wikipedia

Share the article and excerpts

Direct link
Do a right-click on the link above
and select “Copy Link”