Paper Infomation
Research of Anti-sway System for ARMG Based on Input-shaping Control Method
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Author: Gang Liu, Jin-Gui Luo, Chun Xie, Christian Sponfeldner
Abstract: This paper did research on electric-control anti-sway system with input shaping method, which is different from commonly used closed-loop PID and Fuzzy-logical control. Input shaping technique is a feed-forward control technique that involves convolving a desired command with a sequence of impulses known as “input shaper” to damp motion induced oscillations. Based on Matlab/Simulink the input shaper inside an embedded Matlab-function-block was implemented. By comparision, although the IS-controlled system reaches the desired position later, but swings inside the tolerance zone, which makes it more efficient.
Keywords: Input-shaping; Anti-sway; ARMG; Mathematical Model
References:
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