Closed-form smoothers and shapers with distributed delay for damped oscillatory modes

Baran Alikoç, Tomáš Vyhlídal*, Ali Fuat Ergenç

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)

Abstract

The study deals with parametrisation of input shapers and smoothers with distributed delays, which are a common tool used for pre-compensating oscillatory modes of flexible systems. These filtering structures can be easily parametrised, if the oscillatory mode is undamped, leading to fully analytical formulas. For the damped case, however, the parametrisation needs to be done numerically as a rule. Utilising a straightforward complex domain transformation, as the main results, the structure of the filters is turned to the closed-form that can be parametrised analytically for the damped case too. The adjusted smoothers and shapers accommodate the reference and the system output signals without vibration at the same time lengths like the preforms for the undamped case. This methodology is applied to Trapezoidal, S-curve and Trigonometric smoothers, Jerk Limited shaper and recently proposed Zero Vibration shaper with a distributed delay. The proposed new types of smoothers and shapers, which are essentially based on exponential distribution of delays, are investigated in time and frequency domains. Subsequently, the basic properties, i.e. response performances, spectrum distribution and robustness analysis, are demonstrated and cross-compared in a case study example.

Original languageEnglish
Pages (from-to)2534-2542
Number of pages9
JournalIET Control Theory and Applications
Volume10
Issue number18
DOIs
Publication statusPublished - 12 Dec 2016

Bibliographical note

Publisher Copyright:
© The Institution of Engineering and Technology 2016.

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