Belski, Eric T
(2018)
Practical and Efficient System Identification of Precision Gantry Systems.
Master's Thesis, University of Pittsburgh.
(Unpublished)
Abstract
This research develops a procedure to efficiently measure the multi-input multi-output frequency response of precision gantry systems. A precision gantry considered here is defined as two axes moving a bridge in tandem with a third axis mounted to the bridge. An efficient method of measuring the frequency response will decrease the total time required for designing a controller, and higher volumes of gantries can be processed in a set amount of time.
Sequential, random phase multisine signals are chosen as an excitation signal for the system identification. A model-guided methodology based on system parameters determines how many locations at which the frequency response should be measured, as the response varies with axis location. Guidelines are developed and used to determine that the frequency response of the gantry base and workpoint can be measured using accelerometers in order to provide information about system behavior. The frequency response data is processed using multi-input multi-output techniques to provide a meaningful, straightforward presentation. The procedure is then structured into an automated program such that minimal user input is necessary. The result is an automated process that can measure and present the multi-input multi-output frequency response in a deterministic and repeatable manner. The automated procedure is also tested and validated on a sample of industrial gantries.
Share
| Citation/Export: |
|
| Social Networking: |
|
Details
| Item Type: |
University of Pittsburgh ETD
|
| Status: |
Unpublished |
| Creators/Authors: |
|
| ETD Committee: |
|
| Date: |
11 June 2018 |
| Date Type: |
Publication |
| Defense Date: |
3 April 2018 |
| Approval Date: |
11 June 2018 |
| Submission Date: |
4 April 2018 |
| Access Restriction: |
No restriction; Release the ETD for access worldwide immediately. |
| Number of Pages: |
99 |
| Institution: |
University of Pittsburgh |
| Schools and Programs: |
Swanson School of Engineering > Mechanical Engineering |
| Degree: |
MS - Master of Science |
| Thesis Type: |
Master's Thesis |
| Refereed: |
Yes |
| Uncontrolled Keywords: |
LaTeX, system, identification, gantry, efficient, id, industry, precision, frequency, mimo |
| Date Deposited: |
11 Jun 2018 18:17 |
| Last Modified: |
19 Jul 2024 19:12 |
| URI: |
http://d-scholarship.pitt.edu/id/eprint/34080 |
Metrics
Monthly Views for the past 3 years
Plum Analytics
Actions (login required)
 |
View Item |
![[feed]](/images/feed-icon-32x32.png){kind=icon}