Abstract
Traditionally, multi-mode command-shaping controllers are tuned to the system frequencies. This work suggests an opposite approach. A frequency-modulation (FM) strategy is developed to tune the system frequencies to match the frequencies eliminated by a single-mode command-shaper. The shaper developed in this work is based on a double-step command-shaping strategy. Using the FM Shaper, a simulated feedback system is used to modulate the closed-loop frequencies of a simulated double-pendulum model to the point where the closed-loop second mode frequency becomes an odd multiple of the closed-loop first mode frequency, which is the necessary condition for a satisfactory performance of a single-mode command-shaper. The double-step command-shaper is based on the closed-loop first mode frequency. The input commands to the plant of the simulated closed-loop system are then used to drive the actual double-pendulum. Performance is validated experimentally on a scaled model of a double-pendulum gantry crane.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
