基于时间优化的输入整形法抑制一种3-DOF并联机器人的残余振动  

Vibration Suppression of a 3-DOF Parallel Manipulator by Time-Optimal Input Shaping

作　　者：李兵[1,2] 谢里阳[1] 武滢[1] 魏玉兰[1] 

机构地区：[1]东北大学机械工程与自动化学院,沈阳110004 [2]多伦多大学机械与工业工程系

出　　处：《组合机床与自动化加工技术》2010年第1期1-4,10,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家863目标导向课题(2007AA04Z428)

摘　　要：输入整形法是一种前反馈方法,能有效地抑制柔性机器人的残余振动。正脉冲输入整形器在抑制残余振动的同时造成了系统响应的时间延迟,这就需要对其采取时间优化处理。负脉冲输入整形器能够减少系统响应的时间延迟,但脉冲的幅度影响系统的减振效果。单位幅度负脉冲输入整形器能改善这种状况。一种3-DOF并联机器人系统被介绍,给出了系统模型和动态方程。表达了含有单位幅度负脉冲的ZV、ZVD、EI输入整形器的构造方法,并应用到这种3-DOF平面并联机器人系统。研究了单位幅度负脉冲输入整形器的鲁棒性和系统响应时间延迟的减少,并与其它输入整形器进行了对比。数字仿真结果表明单位幅度负脉冲输入整形器能够在减少系统响应时间延迟的同时改善残余振动抑制的效果。The input shaping,a feedforward method,can effectively suppress the residual vibration of the flexible manipulator.The positive impulse input shaping can reduce the residual vibration and produce the delay-time response of the system simultaneously.The time-optimal must be used to against to it.The negative impulse input shaping can decrease the delay-time of the system response.But the amplitudes of the impulses affect the vibration suppression of the system.It can be improved by using the unity-magnitude negative impulse input shaper. A 3-DOF parallel manipulator system is introduced, and the system model and structure dynamic equations are expressed. The theories of the ZV, ZVD, El input shaper with the unity-magnitude negative impulses were introduced, and applied the three methods to the 3-DOF plan parallel manipulator system. The delay-time response of the system and robustness of the unity-magnitude negative impulse input shaper were researched. Furthermore, it was compared with the other input shapers. The results of the numerical simulations expressed the unity-magnitude negative impulse input shaper can decrease the delay-time of the system response and improve the residual vibration suppression of the system simultaneously.

关 键 词：输入整形 负脉冲 并联机器人 时间延迟 时间优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O328[自动化与计算机技术—控制科学与工程]