Abstract
An increasing speed of a motion change in conjunction with lightweight elastic structures lead to large elastic deflections. In order to maintain a sufficient positioning accuracy, vibration damping is mandatory. This can be achieved directly by a feedback loop or indirectly by shaping the reference signal. Based on a L2-norm optimal filter that takes the desired rigid body acceleration and elastic mode dynamics into account and returns a force signal, a reshaped velocity signal for reducing the elastic oscillation is generated. The method is validated on a test setup comprising a linearly moving slide with an upright beam and measurements show a major reduction in the beam oscillation.
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