Projected Phase Plane Switching Curves for Vibration Reduction Filters With Negative Amplitudes

Abstract

In this paper, we extend the phaseplane based closedloop scheme of implementing commands shaped with vibrationreduction filters. A generalized shaping filter is considered in this work which can have negative impulse intensities and different acceleration and deceleration limits. Switching conditions are derived in terms of the filter parameters for both convolutionbased and closedform based shaping techniques. Analytical expressions are provided for the switching curves and various schemes are discussed for selecting appropriate phaseplanes and implementing shapedcommands on realtime servomechanisms.