复数法设计输入整形器抑制柔性机械臂的残留振荡

Input shapers based on complex number algorithm design to reduce residual vibration of flexible beam

提出了一种新的输入整形器的分析设计方法-复数法。即根据系统残留振荡的特点,用复数表示输入整形器的各脉冲,将输入整形器的运算转化为数学运算,并将其应用于柔性机械臂的残留振荡控制中,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-Complex Number algorithm is presented in this paper, it shows the pulses of input shaper with the complex numbers according to the residual vibration of system,it turns the operation of input shaper into mathematical operation, it is applied to reduce residual vibration of flexible beam, Many simulations show that input shapers designed with the new method can reduce the expected level of residual vibration.