Shaped Time-Optimal Control for Disk Drive Systems with Back EMF , Slew Rate Limits , and Different Acceleration and Deceleration Rates

@inproceedings{LaorpacharapanShapedTC,
  title={Shaped Time-Optimal Control for Disk Drive Systems with Back EMF , Slew Rate Limits , and Different Acceleration and Deceleration Rates},
  author={Chanat La-orpacharapan and Lucy Y. Pao}
}
This paper derives shaped time-optimal servomechanism (STOS) controllers for flexible structures consisting of a second-order rigid body with damping and a damped flexible mode. The approach uses input shaping to account for the damped flexible mode by altering the time-optimal velocity profile that moves the second-order rigid body with damping from rest to rest. Considering the slew rate limit constraints, the maneuver is categorized into three ranges due to their different shaped input… CONTINUE READING
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