高阶导数和多峰输入整形的机器人抑振分析  

Analysis on Vibration Reduction of Manipulator with Higher-Derivative and Multi-Hump Input Shaping

作　　者：魏玉兰[1] 李兵[1] 黄旭[2] 张清珠[1] 

机构地区：[1]湖州师范学院工学院,浙江湖州313000 [2]湖州师范学院信息工程学院,浙江湖州313000

出　　处：《机械设计与制造》2016年第11期146-149,共4页Machinery Design & Manufacture

基　　金：浙江省自然科学基金(LQ12E05008);国家自然科学基金(61202290)

摘　　要：输入整形是一种能够有效抑制柔性机器人残余振动的控制策略。但系统的共振频率、阻尼比等参数受外界影响发生变化时,其抑振性能会降低,需要建立一种抑振频率宽度更大的输入整形器。对零振动与零导数和极不灵敏输入整形器进行改进,增加高阶导数或多峰约束条件,从而改善其鲁棒性,获得更大的抑振频率宽度。对多种改进型的输入整形控制策略进行理论分析,构建一种3-DOF并联机器人的多个高阶导数和多峰输入整形器,通过仿真分析其抑制机器人残余振动的响应曲线,并与常规的输入整形器进行对比。Input shaping is a control strategy that can effectively suppress the residual vibration of a flexible robot. But if the resonance frequency and damping ratio of the system are affected by the external influence, the pegformance of vibration suppression will be reduced. A wider frequency range of input shaper must be established to solve this problem. In order to improve the robustness and obtain a wider frequency range of vibration suppression, the zero vibration and the zero derivative and extremely insensitive input shapers are improved by adding constraint condition of higher-derivative or multi-hump. Theoretical analysis of several improved input shaping control strategies are executed. Some higher-derivative and multi-hump input shapers of a 3-DOF parallel robot are established. The response curves of the residual vibration suppression are analyzed by simulation, and compared with the conventional input shapers.

关 键 词：输入整形 抑振 鲁棒性 多脉冲 高阶导数 多峰 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]