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EI输入整形器的设计方法研究 被引量：4

The Research and Design of Multi-hump Extra-insensitive Input Shapers
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摘要 采用极不灵敏法来设计极不灵敏输入整形器,在Singhose提出的极不灵敏法基础上,完成了对无阻尼系统多峰极不灵敏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 robusiness is improved when compared with the ZV and ZVD shapers, and the price of the increased robustness is an increase in rise time.
作者 包艳 薛冬红
机构地区 长沙大学电子与通讯工程系
出处 《长沙大学学报》 2006年第2期43-46,71,共5页 Journal of Changsha University
关键词 输入整形器 极不灵敏输入整形器 残留振荡 鲁棒性 input shaper Extra- Insensitive Input Shaper residual vibration robustness
分类号 TM13 [电气工程—电工理论与新技术]
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参考文献5

  • 1Singhose W E,Porter L,Singer N C.Vibration reduction using multi-hump extra-insensitive input shapers[R].In:Proceedings of the American Control Conference.Seattle,1995:3830-3834.
  • 2Singhose W E,Seering W P,Singer N C.Shaping inputs to reduce vibration:a vector diagram approach[R].In:Proceedings of the IEEE Intemational Conference on Robotics and Automation.Cincinnati,1990:922-927.
  • 3Singhose,W.E.Command Generation for Flexible Systems:[D].MIT Artificial Intelligence Lab,1997.
  • 4Singer,N.C.& Seering,W.P.Preshaping Command Inputs to Reduce System vibration[J].ASME Journal of Dynamic Systems,Measurement and Control.1990,(3):76-82.
  • 5Singer,N.C.Residual Vibration Reduction in Computer Controlled Machines[D].MIT Artificial Intelligence Lab,Technical Report AITR-1030,February 1989.

同被引文献17

  • 1包艳,雷敏.基于复数法的输入整形器的设计与研究[J].长沙大学学报,2005,19(5):53-56. 被引量：3
  • 2董明晓,孙杰,郑康平,张明勤,张桂青.闭环输入整形器消除多模态柔性系统残留振荡[J].机械工程学报,2006,42(5):110-114. 被引量：14
  • 3高岩,张晓亮.吊车模型控制实验系统的研制[J].实验技术与管理,2007,24(5):41-44. 被引量：5
  • 4Mohamed Z, Chee A K, Mohd-Hashim A W I, et al. Techniques for vibration control of a flexible robot manipulator[J]. Robotica, 2006,24 : 499 - 511.
  • 5Li B, Zhang X, Mills J K, et al. Vibration suppression of a 3-PRR flexible parallel manipulator using input shaping[ C]// International Conference on Meehatronics and Automation. Changehun: IEEE, 2009 : 3539 - 3544.
  • 6Ma K, Ghasemi-Nejhad M N. Adaptive input shaping and control for simultaneous precision positioning and vibration suppression of smart composite plates[J]. Smart Material Structure, 2007,16 : 1870 - 1879.
  • 7Mohammed F D, Ziyad N M. Nonlinear input-shaping controller for quay-side container cranes [ J ]. Nonlinear Dynamics, 2006,45 : 149 - 170.
  • 8Stergiopoulos J, Tzes A. Adaptive input shaping for nonlinear systems: a case study[C]//Proceedings of the 13th Mediterranean Conference on Control and Automation. Limassol,Cyprus, 2005 : 188 - 193.
  • 9Singhose W E, Seering W P, Singer N C. Time-optimal negative input shapers [ J ]. Journal of Dynamic, Measurement, and Control, 1997,119(2) : 198 - 205.
  • 10Baumgart M D, Pao L Y. Discrete time-optimal command shaping[J]. Automatica, 2007,43:1403-1409.

引证文献4

二级引证文献3

长沙大学学报
2006年 第2期

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