Esnek mekanik sistemlerin posicast titreşim kontrolü

Posicast control method is an input shaping method used in oscillatory systems. The posicast control method can be applied to feedforward and feedback systems. The feedforward posicast control requires the open-loop system while the feedback posicast control requires the closed-loop system. Inputs can be shaped by applying the posicast methods to open-loop and closed-loop systems. In this thesis, the feedforward posicast method is studied by shaping the inputs. The lumped-parameter mechanical systems as single-degree-of-freedom (S-DOF) and multi-degree-of-freedom (M-DOF), and a single-link flexible manipulator are considered. The step and trapezoidal inputs are shaped using the half and three-step posicast methods. The half-cycle has a single amplitude and delay time while three-step cycles have three amplitudes and two delay time parameters. The shaped amplitude and delay time parameters are calculated by using the undamped natural frequency and damping ratio of the considered system. Simulations are carried out by MATLAB for the S-DOF and M-DOF systems, and ANSYS for the manipulators. The shaped inputs are also prepared by MATLAB. The time responses and tabulated results were presented in order to compare the performances of uncontrolled and controlled cases.