TY - GEN

T1 - New approach using flatness-based control in high speed positioning: Experimental results

AU - Beckmann, Daniel

AU - Schappler, Moritz

AU - Dagen, Matthias

AU - Ortmaier, Tobias

N1 - Publisher Copyright: © 2015 IEEE. Copyright: Copyright 2015 Elsevier B.V., All rights reserved.

PY - 2015/3

Y1 - 2015/3

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84937699884&partnerID=8YFLogxK

U2 - 10.1109/icit.2015.7125123

DO - 10.1109/icit.2015.7125123

M3 - Conference contribution

SP - 351

EP - 356

BT - 2015 IEEE International Conference on Industrial Technology (ICIT)

ER -