INPUT SHAPING FILTERS FOR THE CONTROL OF ELECTRICAL DRIVE WITH FLEXIBLE LOAD

Abstract: This paper deals with control of flexible mechanical systems. The goal is to modify the input signal in order to minimize the residual vibrations excited during a motion of a system with flexible parts. The filter is designed in the time domain via impulse function analysis. Possible application of the proposed solution is demonstrated on two examples of flexible system- control of a crane with hanging load and an electrical servo drive with attached flexible shaft. The effect of nonlinearities in the signal path caused by saturation of the servo loop controllers is studied. Various possibilities for the placement of the filter are discussed