基于阻尼矢量图法的输入整形器的分析与设计

The research and design about input shapers based on damped vector diagram

提出了一种新的输入整形器的分析设计方法-阻尼矢量图,即将无阻尼系统的矢量图法推广应用于有阻尼系统,为有阻尼系统提供了一种输入整形器的图形化分析与设计方法,其运用简便、直观,且能在图上直接对输入整形器的鲁棒性进行分析。仿真结果验证了按此方法设计的输入整形器确能抑制残留振荡。

A new method - Damped Vector Diagram is presented in this paper, it applies the vector diagram of no-damped system to damped system and offers a kind of diagram analysis and design method, It is used simply and conveniently, and can analyzes the robustness of input shapers directly, Many simulations show that input shapers designed with the new method can reduce the expected level of residual vibration.