输入整形信号控制柔性机构残余振动  

Vibration Reduction in Flexible Mechanism Using Input Shaping

作　　者：马西良[1] 毛瑞卿[1] 

机构地区：[1]徐州工程学院机电学院,江苏徐州221008

出　　处：《噪声与振动控制》2009年第2期42-45,共4页Noise and Vibration Control

基　　金：国家973重点基础研究发展计划资助项目(2003CB716206)

摘　　要：以单级直线摆为实验对象,设计ZV、ZVD及EI型整形器,并把输入整形算法应用到单级直线摆的点到点运动中,研究柔性机构作点到点运动到达指定位置时残留振动的抑制。通过整形前后运动终点的摆杆摆角的对比,ZV、ZVD及EI型整形都有效的抑制了残留振动。表明输入整形技术能够控制单级直线摆的点到点运动停止时的摆杆振荡。Based on input shaping technique, the residual vibration reduction of flexible mechanism in point-to-point motion is studied. The Zero Vibration （ZV）, Zero Vibration and Derivative （ZVD） and Extra Insensitivity （El） shapers have been designed according to liner pendulum. Then, they are applied in liner pendulum system to suppress the residual vibration induced by point-to-point motion. Comparing the pole angles, it is found that ZV, ZVD and El shapers can effectively reduce the residual vibration of liner pendulum. The result of experiment demonstrates that input shaping technique can reduce the resid- ual vibrations in liner pendulum when the point-to-point motion stops.

关 键 词：振动与波 输入整形 残余振动 直线摆 柔性机构 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]