New approach using flatness-based control in high speed positioning: Experimental results

verfasst von

Daniel Beckmann, Moritz Schappler, Matthias Dagen, Tobias Ortmaier

Abstract

This paper discusses flatness-based control approaches to reduce oscillations on the load side of mechanical motion systems. Choosing a suitable trajectory is one essential step in implementing a flatness-based control. Existing approaches use slow polynomials or mathematically complex Gevrey-functions to achieve the necessary differentiability. Our approach combines the oscillation reduction of flatness-based control and the dynamic and simplicity of higher order Scurve trajectories generated by a convolution based algorithm. The performance and robustness of the presented methods is experimentally validated with a linear flexible motion system.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

351-356

Anzahl der Seiten

6

Publikationsdatum

03.2015

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Angewandte Informatik, Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.1109/icit.2015.7125123 (Zugang: Geschlossen)