摘要
文章采用极不灵敏法来设计EI输入整形器,在Singhose[1,2]提出的极不灵敏法基础上,完成了对无阻尼系统多峰EI输入整形器的推导过程,仿真结果表明用此方法设计的输入整形器能有效地抑制残留振荡,且较之ZV和ZVD整形器,其鲁棒性得到进一步的改善,但这种鲁棒性的改善是以牺牲响应速度为代价的。
Multi-Hump Extra-Insensitive Input Shapers are researched in detail in this paper, Many simulations show that input shapers designed with this method can reduce the expected level of residual vibration, their robustness are improved when compared with the ZV and ZVD shapers, the price of the increased robustness is an increase in rise time.
出处
《制造业自动化》
北大核心
2008年第10期61-64,共4页
Manufacturing Automation
关键词
输入整形器
EI输入整形器
残留振荡
鲁棒性
input shaper
Extra-Insensitive Input Shaper
residual vibration
robustness
