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Practical and Efficient System Identification of Precision Gantry Systems

Belski, Eric / T (2018) Practical and Efficient System Identification of Precision Gantry Systems. Master's Thesis, University of Pittsburgh. (Unpublished)

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This research develops a procedure to e�ciently measure the multi-input multi-output frequency
response of precision gantry systems. A precision gantry considered here is de�ned
as two axes moving a bridge in tandem with a third axis mounted to the bridge. An e�-
cient 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
Sequential, random phase multisine signals are chosen as an excitation signal for the
system identi�cation. 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.


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Item Type: University of Pittsburgh ETD
Status: Unpublished
CreatorsEmailPitt UsernameORCID
Belski, Eric / Tetb14@pitt.eduetb140000-0003-2920-3701
ETD Committee:
TitleMemberEmail AddressPitt UsernameORCID
Committee ChairCole, Daniel / Gdgcole@pitt.edudgcole
Committee MemberLudwick, Stephensludwick@pitt.edusludwick
Committee MemberVipperman, Jeffrey / Sjsv@pitt.edujsv
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: 11 Jun 2018 18:17


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