Design of Multi-stage Optimal Arbitrary Time-delay Filter

摘要

Input shaping is an effective method for suppressing residual vibration of flexible system. In this paper, the design processes of Zero Vibration (ZV), Zero Vibration and Derivative (ZVD) shapers are deduced. Based on the idea of the robustness input shaper, the Multi-stage Optimal Arbitrary Time-delay Filter (MOATF) is proposed. The proposed control method is implemented on the second-order linear time-invariant system. Simulation results show that the residual vibration can be reduced effectively and the proposed method have great robustness in system parameter uncertainty.