INPUT SHAPING FILTERING METHOD AND APPARATUS THEREOF USING DIGITAL CONVOLUTION

摘要

PURPOSE: An input shaping filtering method and apparatus thereof using a digital convolution are to remove a residual vibration and a time delay. CONSTITUTION: An input shaping filtering method comprises the steps of: (901) setting the number of accelerating/decelerating section, a vibration frequency in the accelerating/decelerating section, and a convolution pattern to be used in the accelerating/decelerating section and inputting the set data to a system; (902) generating a convolution pattern to be used in the accelerating/decelerating section based on the inputted data; (903) performing an input shaping filtering (ISF) using the generated convolution pattern; (904) successively performing a digital convolution using the convolution pattern which the ISF is performed when a velocity instruction is inputted to the system; (905) converting the velocity values which the digital convolution value is performed into a position value and inputting the converted position value to the servo motor drive; and performing the 902-905 steps in the decelerating section. Therefore, the vibration frequency is effectively removed and the time delay can to be prevented.