Genetic algorithm based method of elimination of residual oscillation in mechatronic systems

Peter Hubinský; Ladislav Jurišica; Branislav Vranka

Kybernetika (2005)

  • Volume: 41, Issue: 5, page [623]-636
  • ISSN: 0023-5954

Abstract

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The paper presents control signals generation methods, preventing the excitation of residual vibration in slightly damped oscillational systems. It is focused on the feedforward methods, as most of the vibrations in examined processes are induced by the control, while the influence of disturbances is mostly negligible. Application of these methods involves ensuring of the insensitivity to natural frequency change, which can be reached in classical approach only by considerable increase of transient response duration. Genetic algorithms can be effectively applied for the numerical optimization of developed shaper while maintaining the insensitivity to parameter change and short time delay.

How to cite

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Hubinský, Peter, Jurišica, Ladislav, and Vranka, Branislav. "Genetic algorithm based method of elimination of residual oscillation in mechatronic systems." Kybernetika 41.5 (2005): [623]-636. <http://eudml.org/doc/33778>.

@article{Hubinský2005,
abstract = {The paper presents control signals generation methods, preventing the excitation of residual vibration in slightly damped oscillational systems. It is focused on the feedforward methods, as most of the vibrations in examined processes are induced by the control, while the influence of disturbances is mostly negligible. Application of these methods involves ensuring of the insensitivity to natural frequency change, which can be reached in classical approach only by considerable increase of transient response duration. Genetic algorithms can be effectively applied for the numerical optimization of developed shaper while maintaining the insensitivity to parameter change and short time delay.},
author = {Hubinský, Peter, Jurišica, Ladislav, Vranka, Branislav},
journal = {Kybernetika},
keywords = {elimination of residual vibration; input signal shaping; genetic algorithm; elimination of residual vibration; input signal shaping; genetic algorithm},
language = {eng},
number = {5},
pages = {[623]-636},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Genetic algorithm based method of elimination of residual oscillation in mechatronic systems},
url = {http://eudml.org/doc/33778},
volume = {41},
year = {2005},
}

TY - JOUR
AU - Hubinský, Peter
AU - Jurišica, Ladislav
AU - Vranka, Branislav
TI - Genetic algorithm based method of elimination of residual oscillation in mechatronic systems
JO - Kybernetika
PY - 2005
PB - Institute of Information Theory and Automation AS CR
VL - 41
IS - 5
SP - [623]
EP - 636
AB - The paper presents control signals generation methods, preventing the excitation of residual vibration in slightly damped oscillational systems. It is focused on the feedforward methods, as most of the vibrations in examined processes are induced by the control, while the influence of disturbances is mostly negligible. Application of these methods involves ensuring of the insensitivity to natural frequency change, which can be reached in classical approach only by considerable increase of transient response duration. Genetic algorithms can be effectively applied for the numerical optimization of developed shaper while maintaining the insensitivity to parameter change and short time delay.
LA - eng
KW - elimination of residual vibration; input signal shaping; genetic algorithm; elimination of residual vibration; input signal shaping; genetic algorithm
UR - http://eudml.org/doc/33778
ER -

References

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  1. Hubinský P., Reducing of robot end-effector residual oscillations by means of control shaping, J. Electr. Engrg. 49 (1998), 129–133 (1998) 
  2. Hubinský P., Jurišica L., Reducing of robot end effector residual vibration by means of control signal shaping, In: Internat. Conference on Electrical Drives and Power Electronics, Technical University of Košice, 1994 
  3. Hubinský P., Vranka B., Genetic algorithm based method of residual oscillation elimination in 2-dimensional positioning systems, In: SSKI Conference Kybernetika a informatika, Trebišov 2002 
  4. Hubinský P., Vranka B., Input shaping preventing the excitation of oscillation applied to the Voronoi diagram planned path, AT&P Journal, 2004 
  5. Ivanov I., Hubinský P., Control of a cantry cart with elimination of residual oscillation, In: 4th Internat. Scientific-Technical Conference, Process Control 2000, Kouty pod Desnou 
  6. Meckl P. H., Seering W. P., 10.1115/1.3269276, Trans. ASME J. Vibration, Acoustic, Stress and Reliability in Design 4 (1985), 378–382 (1985) DOI10.1115/1.3269276
  7. Singhose W. E., Seering W. P., Singer N. C., Shaping inputs to reduce vibration: A vector diagram approach, IEEE J. (1990), 922–927 (1990) 
  8. Smith O. J., Posicast control of damped oscillatory systems, Proc. Inst. Radio Engrg. 45 (1957), 1249–1255 (1957) 
  9. Smith J. Y., Kozák, K., Singhose W. E., Input shaping for a simple nonlinear system, In: Proc. American Control Conference, Anchorage, AK, May 2002 
  10. Vranka B., On-line Method of Elimination of Vibration in Mechatronic Systems, Diploma Thesis (in Slovak). Faculty of Electrical Engineering, Slovak Technical University, Bratislava 2001 
  11. Vranka B., Gruhler G., Input-Shaping Methode zur Regelung von schwingungsfähigen Systems, A&D Compendium 2005. Publish Industry 
  12. Závodský M., Hubinský P., Elimination of residual vibration of pendulum mechanizm, AT&P J. Plus – Robotics, Mechatronics, Discrete Manufacturing Systems (2001), 26–29 

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