最优鲁棒极不灵敏时滞滤波器消除小阻尼柔性系统残留振动

Optimal robust extra insensitive time-delayed filter to eliminate residual vibrations of slight-damping flexible systems

对于频率大范围变化的小阻尼柔性系统,以零振动时滞滤波器的幅频特性为目标函数,基于优化理论和矢量图法,设计最优鲁棒极不灵敏时滞滤波器。该滤波器的特点是考虑了系统参数的变化范围,系统残留振动的最大幅值在参数变化区间内相等,从而提高了时滞滤波器的鲁棒性,特别是当系统参数大范围变化时,时滞滤波器有更强的鲁棒性,能有效消除柔性系统的残留振动。将这一控制技术用于桥式起重机实验系统中,可以有效抑制载荷的残留摆动。

For the flexible systems with varying frequencies in a larger range, based on the optimization theory and vector graph method, an optimal robust extra insensitive time-delayed filter is designed, for which the magnitude-frequency performance under the condition of zero vibration is taken as objective function. The characteristics of the filter include that the parameter variation ranges are taken into account, and within the parameter variation range each maximum magnitude of the residual vibrations is set to be equal. Thus, if the system parameters vary in lager ranges,the filter is more robust and the residual vibrations can be effectively eliminated. This technique was used in the experiment system of gantry crane and can effectively restrain the residual oscillations of payload.