基于极不灵敏法的EI输入整形器的分析与设计  

The research and design of input shapers based on Extra-Insensitive

作　　者：包艳[1] 单海云[2] 

机构地区：[1]长沙学院电子与通讯工程系,湖南长沙410003 [2]北京机械工业自动化研究所,北京100011

出　　处：《制造业自动化》2008年第10期61-64,共4页Manufacturing Automation

摘　　要：文章采用极不灵敏法来设计EI输入整形器,在Singhose[1,2]提出的极不灵敏法基础上,完成了对无阻尼系统多峰EI输入整形器的推导过程,仿真结果表明用此方法设计的输入整形器能有效地抑制残留振荡,且较之ZV和ZVD整形器,其鲁棒性得到进一步的改善,但这种鲁棒性的改善是以牺牲响应速度为代价的。Multi-Hump Extra-Insensitive Input Shapers are researched in detail in this paper, Many simulations show that input shapers designed with this method can reduce the expected level of residual vibration, their robustness are improved when compared with the ZV and ZVD shapers, the price of the increased robustness is an increase in rise time.

关 键 词：输入整形器 EI输入整形器 残留振荡 鲁棒性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]