阻尼矢量图法设计输入整形器抑制柔性机械臂的残留振荡  

On Design of Input Shapers Based on Damped Vector Diagram

作　　者：包艳[1] 

机构地区：[1]长沙学院电子与通讯工程系,长沙410003

出　　处：《机械科学与技术》2008年第3期405-407,412,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：输入整形技术的研究源于抑制小阻尼伺服系统振荡模态的残留振荡,其能以简单的开环控制实现系统的快速定位,因而在抑制高精度定位系统的残留振荡方面得到了广泛应用。本文提出了一种新的输入整形器的分析设计方法———阻尼矢量图,即将无阻尼系统的矢量图法推广应用于有阻尼系统,为有阻尼系统提供了一种输入整形器的图形化分析与设计方法,其运用简便、直观,且能在图上直接对输入整形器的鲁棒性进行分析,将其应用于柔性机械臂的残留振荡控制中,仿真结果验证了按此方法设计的输入整形器确能抑制残留振荡。We present a new method damped vector diagram, for analyzing and designing input shapers. We first introduce the vector diagram of a no-damped system into a damped system as a diagram analysis and design method. Then we apply the method to reducing the residual vibration of a flexible beam. Using damped vector diagram, we can obtain an infinite number of input shapers for eliminating residual vibration. Different input shapers have different response speeds and different energy consumptions. We can determine the input shaper that can meet the requirements according to different performance indices and constraints. Simulation results show that the input shapers designed by damped vector diagram can indeed reduce the expected level of the residual vibration of a flexible beam.

关 键 词：输入整形器 阻尼矢量图 残留振荡 鲁棒性 柔性机械臂 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]