规划输入命令法消除多模态系统振动

Preshaped Input Commands Applied to Minimizing the Vibration of a Multiple-Modes System

提出了一种开环控制柔性机械臂的简单有效的方法一规划输入命令法消除多模态系的振动。对输入函数的作用时刻，大小，周期进行了研究，并进行了数字仿真。仿真结果表明对输入命令进行规划后可得到满意结果，这种方法用于闭环系统也可收到较好效果。

A simple and effective method, for preshaping input commands,is proposed in this paper. It is applicable to the control of a flexible manipulator in both open-loop and closed-loop systems. The acting time, the vibration amplitude and the timing of the input function have been studied. In addition, the results of the method have been simulated which demonstrate that the vibration amplitude can be reduced greatly subject to the commands that are preshaped.