Analysis of input shaping robustness for two-mass system

Abstract

Many mechanical objects are characterized by flexible joint. This systems are represented by cranes, conveyers drives, robotic arms, aircraft turbines and others. Many of this objects can be approximated as multi-mass system or, in the simplest cases, two-mass systems. The two mass system is very convenient in tests because of many reasons. First of all it is easy to model and simulate. Additionally changes in parameters to obtain specific targets are easy to calculate and design. The paper shows three input shapers used to control the two-mass system with variable moments of inertia. It was assumed, that the sum of moments of inertia of both masses is constant. All input shapers are analyzed for robustness. The research was made in Matlab/Simulink environment