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Robust input shaping for two-mass system with variable parameters


[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ 2 ] Politechnika Poznańska | [ P ] employee

Year of publication


Published in

Poznan University of Technology Academic Journals. Electrical Engineering

Journal year: 2014 | Journal number: Issue 77

Article type

scientific article

Publication language


  • two-mass system
  • input shaping
  • robustness

EN Various mechanical systems are characterized with flexible joints. Exemplary this class of systems are the conveyers motors, the industrial robots and the cranes. The mechanical properties of those objects can be approximated by two-mass system. The paper presents the time-optimal input shaping methods for two-mass system. The control signal has to reach the set value of displacement in the shortest time, without of rising the mechanical oscillations. It was established, that the summary moment of inertia is constant, but division of mass is changing. For this case robustness for wide range of parameters deviations was analyzed. The model included PMSM motor with limited dynamics of current regulation. The research were conducted in Matlab/Simulink enviroment.

Pages (from - to)

209 - 215

Presented on

Computer Applications in Electrical Engineering 2014, 28-29.04.2014, Poznań, Polska

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