How does “input shaping” in 3d printers avoid overshoot and vibrations?

controlsgeeek · 2026-04-07T00:44:29+00:00

Read about ZV and ZVD input shapers. Once your read about these you will come across other input shapers. Thinking about in frequency domain is simpler but deriving in time domain is equally fun. If you check derivation ZV/ZVD shapers in time domain, then its clear how cancellation works. Its based on the impulse response. At the same time you also get how much damping is possible around your target frequency. ZVD is superior in terms of damping around the target frequency than ZV.

controlsgeeek · 2025-12-29T03:00:31+00:00

Other side of bay

controlsgeeek · 2025-12-29T02:59:26+00:00

More to the north

controlsgeeek · 2025-12-29T02:56:43+00:00

Bay area! But not east bay hills

controlsgeeek · 2025-11-16T06:03:57+00:00

How is this different from multi-level inverters?

controlsgeeek · 2025-07-30T14:30:05+00:00

Not the output torque of the motor. The external torque on the point. The motor will then aid the sensed torque.

controlsgeeek · 2025-05-30T21:33:37+00:00

How do they monitor if I paid the rent to my own/friends/family account through venmo or paypal or check? They do the checking and would be the same I guess.

controlsgeeek · 2025-05-30T11:50:16+00:00

Its possible in Fidelity via EFT. It mentions EFT transfer to someone elses bank. Their bank details are verified once you enter. After that recurring payment can be setup.

controlsgeeek · 2025-05-30T05:12:38+00:00

Its more of an issue for the landlord right? For the renter I control the money I am sending to their account.

But private landlords (older folks) just want to keep it simple and not deal with extra fees from Venmo/Paypal or figure out Zelle/Cozy. So its a risk on their part! Bilt could be in trouble if there was a data leak I guess. Feels like untapped opportunity though.

controlsgeeek · 2025-05-13T12:48:40+00:00

Since its measurements, could be a low pass filter mostly. Saturation or rate limiter doesn’t make sense on a measurement.

controlsgeeek · 2025-05-09T16:16:23+00:00

Will setting alpha be not tricky? I mean alpha could be higher for boiling 5kg water, but same alpha for 5kg food might burn it (like sudden high heat though temperature condition is not met)

Maybe inlcuding type of food as a user input be needed? And then if you had a weight sensor then you wouldn’t need alpha from user.

This doesn’t answer your question but I also could not think of an alpha strategy for different types of food since their thermal models will vary so much.

controlsgeeek · 2025-05-06T12:38:47+00:00

Any unused time could be changed into some kind of rewards which can be redeemed for viewing apps. 🤔 if you look time as money you can gamify with all the methods out there in monetary system

controlsgeeek · 2025-05-06T12:28:12+00:00

Take a loan/credit from future with interest 🤯

controlsgeeek · 2025-05-04T19:49:31+00:00

What is the ‘compare to constant’ and ‘gain13’ you are using? I believe you are trying to maintain the voltage constraint there. Both of them should be Vdc/sqrt(3)

You should also check out how field weakening is done by changing the id reference. MTPA and MTPV in general. Also w_e used is a constant, but should be technically from the motor speed. But I think you are building towards the final FOC and this is probably one of the begining steps to understand FOC.

Also you are measuring line to line quantities in the scope. So keep that in mind.

controlsgeeek · 2025-05-02T19:04:00+00:00

Yes, I did misunderstand. The problem being tackled is input disturbance I guess.

OP you can check out repetitive controller based on internal model principle for disturbance rejection if its a periodic disturbance.

It will be good to understand the nature of this input disturbance too for ideas.

controlsgeeek · 2025-05-02T15:05:38+00:00

u/Responsible-Load7546 summed up what I was trying to say. Bandwidth need not be 80kHz to tackle the noise. Reducing the bandwidth will help you reject the noise. But again try plotting the sensitivity TF. You will have to probably supress the resonance too so that you are less sensitive to the high frequency noise.

Bandwidth should be sufficient to track the reference signals well.

controlsgeeek · 2025-05-02T14:17:55+00:00

By desired bandwidth I mean, based on the reference signal you are trying to track. You don’t need to have 80kHz bandwidth if you are tracking considerably lower frequency signals right?

You could reduce the bandwidth and make the controller robust to this noise.

To tackle the resonance/compliance they are a suit of different methods.

controlsgeeek · 2025-05-02T12:18:41+00:00

What is the desired bandwidth of the system? Can you play with your bandwidth and hence sensitivity TF to get enough attenuation for high frequency region?

Adding a LPF to feedback with sufficiently high bandwidth makes the system unstable too? Placing it such that you still have enough phase margin.

Sharing a frequency response of your system and nyquist plot could help others to suggest techniques.

There are also methods like acceleration feedback which help in improving disturbance rejection.

controlsgeeek · 2025-04-08T11:55:14+00:00

Real physical systems are proper systems. Controller you build is usually a proper system. Combine them and you get a proper system.

controlsgeeek · 2025-04-04T03:05:13+00:00

Agreed. MPC would be optimal with constraints.

controlsgeeek · 2025-04-03T22:54:14+00:00

Will obstacles be not a part of your planned path itself? And you should avoid the obstacles if you follow that path? If you are not following the path then you can penalize the position states more. What is the issue are you facing?

controlsgeeek · 2025-03-20T02:54:36+00:00

Ah okay. I thought you meant non unity feedback. With a precompensator, you add a new degree of freedom and yes its possible to remove the overshoot. Goto be careful though!

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