基于输入整形技术抑制直线摆点到点运动的残留振动

Vibration-suppression of Point-to-point Motion in Liner Pendulum by Input Shaping

基于输入整形技术,研究小摩擦系统作点到点运动到达指定位置时残留振动的抑制。以直线摆为实验对象,设计零振动(ZV)、零振动和微分(ZVD)及极不灵敏(EI)整形器,并将它们分别应用到直线摆的点到点运动,抑制到达指定点时的残留振动。通过整形前后运动终点的摆角摆动时间的对比,ZV、ZVD及EI比整形前分别减少摆杆残留摆动时间为50%、85%和79%。实验证明,采用输入整形技术抑制了直线摆点到点运动停止时的摆杆残留摆动。

Based on input shaping technology, the residual vibration reduction of little-friction system moved from one rest to another was studied. The Zero Vibration （ZV）, Zero Vibration and Derivative （ZVD） and Extra Insensitivity （EI） shapers have been designed according to liner pendulum, then applied in liner pendulum system to compress the vibration induced by point-to-point movement. The pole angle was contrasted with unshaped, ZV, ZVD and EI respectively reduced the vibration for 50%, 85 % and 79%.The result of experiment demonstrated that the residual vibration of liner pendulum with point-to-point movement was compressed by input shaping.