最优鲁棒EI时滞滤波器的设计原理及性能分析

DESIGN PRINCIPLE AND PERFORMANCE ANALYSIS OF OPTIMAL ROBUST EI TIME-DELAYED FILTER

时滞滤波器能抑制柔性系统的残留振荡,但典型时滞滤波器对系统参数误差的鲁棒性较差,不能有效抑制残留振荡。对于参数大范围变化的柔性系统,将系统参数变化范围作为先验知识,以ZV时滞滤波器的幅频特性作为目标函数,基于优化理论和矢量图法,计算零点频率,设计最优鲁棒EI时滞滤波器。该滤波器的特点是考虑了系统参数的变化范围,系统残留振荡的最大幅值在参数变化区间内相等,从而有更强的鲁棒性,特别是当系统参数大范围变化时,能有效消除柔性系统的残留振荡。

Time-delayed filters are used to restrain the residual vibrations of flexible systems,However,typical time-delayed filters are less robust to the errors of system parameters and can not effectively reduce the residual oscillations.Aiming at the flexible systems with varying parameters in lager range,based on the optimization theory and vector graph method,the zero-frequencies are solved and optimal robust EI time-delayed filter is presented,by taking the variation ranges of system parameters as apriori knowledge and taking the magnitude-frequency performance of ZV time-delayed filter as objective function.The features of the filter are that the parameter variation ranges are taken into account,and the maximum magnitude of residual oscillations maintains no change in the parameter variation range.Thus,the filter is more robust to the parameter errors and can effectively eliminate the residual oscillations when the system parameters vary in lager range.