A new technique, based on dynamic inversion, for the residual vibration reduction in the point-to-point motion of servosystems with elastic transmission is presented. The methodology consists of defining a suitable motion law for the load, and subsequently determining, via dynamic inversion, the corresponding command function for the system. The method inherently assures the robustness of the control scheme despite inaccuracies in the estimation of the stiffness constant and of the damping of the transmission. The main contribution of the paper lies in the definition of a simple optimization procedure which allows the system inversion point that minimizes the residual vibration to be found. Experimental results show that in this way the identification phase is less critical and performances can be significantly improved.
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December 2001
Technical Briefs
Point-to-Point Motion Planning for Servosystems With Elastic Transmission Via Optimal Dynamic Inversion1
Aurelio Piazzi,
Aurelio Piazzi
Dipartimento di Ingegneria dell’Informazione, University of Parma, Parma, Italy
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Antonio Visioli
Antonio Visioli
Dipartimento di Elettronica per l’Automazione, University of Brescia, Via Branze 38, I-25123 Brescia, Italy
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Aurelio Piazzi
Dipartimento di Ingegneria dell’Informazione, University of Parma, Parma, Italy
Antonio Visioli
Dipartimento di Elettronica per l’Automazione, University of Brescia, Via Branze 38, I-25123 Brescia, Italy
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript Received by the Dynamics Systems and Control Division October 3, 2001. Associate Editor: C. Rahn.
J. Dyn. Sys., Meas., Control. Dec 2001, 123(4): 733-736 (4 pages)
Published Online: October 3, 2001
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Received:
October 3, 2001
Citation
Piazzi , A., and Visioli , A. (October 3, 2001). "Point-to-Point Motion Planning for Servosystems With Elastic Transmission Via Optimal Dynamic Inversion." ASME. J. Dyn. Sys., Meas., Control. December 2001; 123(4): 733–736. https://doi.org/10.1115/1.1408944
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