METHOD OF ROBUSTNESS INPUT SHAPED CONTROL WITH FLEXIBLE SYSTEM LIMITED ACCELERATION

摘要

The present invention relates to a method for controlling a robustness input shape for a flexible system with a limited acceleration. The purpose of the present invention is to a method for controlling an input shape of a acceleration limits zero vibration derivate (ALZVD) input shaper to apply an input command obtained through a ramped step and a convolution by an acceleration limit to the flexible system by calculating and representing a phasor type vector through a response formula through a pendulum system and obtaining the amplitude and the time of an impulse of the flexible system by using the calculated phasor vector through a vector diagram approach.