文章基本信息

标题：Input Shaper Optimization with a Constraint on the Spectrum Distribution
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作者：Vyacheslav Kungurtsev ; Dan Pilbauer ; Tomáš Vyhlídal 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：13324-13329
DOI：10.1016/j.ifacol.2017.08.1893
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a procedure to parametrize input shapers with piecewise equally distributed time delays. The procedure seeks to minimize residual vibrations around an undesirable frequency but at the same time avoids introducing zeros in the right half plane. This ensures that the introduction of the inverse of the input shaper in a closed feedback loop does not introduce unstable poles in the system. The requirement of stable spectra for the input shaper appears as an additional constraint in a constrained optimization problem that includes minimizing the response time and residual vibrations while preserving required properties of the shaper. The novel introduction of a spectral constraint makes the optimization problem nonsmooth and nonconvex, necessitating special optimization algorithms for its reliable solution. The framework is outlined in detail and the results of the optimization are presented indicating the success of the procedure.
关键词：Keywordstime-delay input shapersvibration suppressionmulti-objective optimisationPareto frontspectral abscissanonsmooth nonconvex optimization