消除柔性系统残留振荡有限冲击控制研究

Study on Limited Jerk Control for Eliminating Residual Vibrations of Flexible Systems

将时滞滤波器用于具有刚性模态的柔性系统中,可以抑制残留振荡,但容易产生冲击运动。为了降低运动冲击,对控制信号的时间变化率加以限制,设计有限冲击指令,同时将最小最大优化思想引入时滞滤波器的设计中,提出一种新型控制器——有限冲击时滞控制器。计算机仿真和试验结果表明,这一控制器能降低振荡的最大幅值,在一个振荡周期内有效抑制残留振荡;在系统参数变化范围内,控制器的复数零点能有效抵消系统的极点,因此有更强的鲁棒性;与常用的时滞滤波器相比,能抑制控制信号的高频成分,降低未建模动态激励和运动冲击。

In order to reduce residual vibrations, a time delayed filter is used in flexible systems with rigid modes, which results in significant ballistic motions of rigid bodies. A new algorithm, which limits time-variation-rate of control input, and realizes limited jerk command input, is proposed. With this algorithm a limited jerk time delayed controller that introduces the mini-max optimization method to the controller design is accomplished. Simulation results and experimental results show that the controller reduces the maximum magnitude of vibration, and effectively eliminates residual vibration in a period of oscillation. In the entire range of system parameter variations, the complex zeros of the controller effectively cancel the poles of system, which makes the controller more robust. Compared with general time delayed filter, the controller depresses the high frequency components of the command input, and reduces the excitation of the vibratory modes and ballistic motion of the system.