A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation |
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| Authors: | Matthew O.T. Cole |
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| Affiliation: | 1. College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian 350116, China;2. Fujian Key Lab of Medical Instrumentation & Pharmaceutical Technology, Fuzhou, Fujian 350116, China;3. Department of Instrumental and Electrical Engineering, Xiamen University, Xiamen, Fujian 361005, China;4. Fujian Key Lab of Eco-Industrial Green Technology, Wuyishan, Fujian 354300, China;1. Electrical Engineering Department, Delhi Technological University, India;2. Engineering Product Development Pillar, SUTD, Singapore, Singapore |
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| Abstract: | This paper describes the construction of low-pass FIR filters for application as command input shapers in motion control systems. The filters are designed to operate on an arbitrary command input signal to ensure a finite settling time for system modes with known natural frequency and damping ratio. In addition, the required roll-off rate of the filter frequency response may be prescribed in the design. Excitation of unmodeled high-frequency modes can thereby be reduced. The filters also produce an input-smoothing effect that is useful in situations where discontinuities in the input signal or its derivatives would be detrimental to system performance or function. Numerical case studies are presented to clarify these effects. |
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