输入整形技术优化直线摆由加速到稳速运动阶段振荡时间

Optimize the Settling Time Duration the Acceleration to the Constant Velocity Phase in Liner Pendulum by Input Shaping

为抑制小摩擦系统由加速到稳速运动时残留振动、优化振荡时间,以小车驱动一级直线摆为实验研究对象,引入输入整形技术,在系统由加速到稳速运动动态过程中,将零振动(ZV)、零振动和微分(ZVD)和极不灵敏(E I)整形技术应用到该运动控制系统,以抑制小车进入稳速阶段时直线摆残留振动,减少直线摆振荡时间。通过运动控制系统引入整形技术前后的直线摆摆角、摆动时间分析对比,不同条件下实验结果分析表明:一级直线摆运动系统在ZV、ZVD和E I整形技术作用下,运动系统由加速进入稳速运行时,直线摆摆角输出幅值变小,可明显减少摆杆摆动的振荡时间。

Based on input shaping technology, the residual vibration reduction of little-friction system in the duration of system acceleration to constant velocity phase was investigated in order to optimize the settling time. Taken the single-liner pendulum driven by a car as the research subject, the Zero Vibration （ZV）, Zero Vibration and Derivative （ZVD） and Extra Insensitivity （El） shapers were applied to the motion control system for suppressing the residual vibration and reducing the settling time of the pendulum rod in the dynamic process of the single-liner pendulum acceleration to constant velocity motion phase. By compared the magnitude of oscillation angle and the swinging time of the pendulum rod under different experimental conditions, the results are shown that： By applied the ZV, ZVD and E1 to Single-liner pendulum motion system, the amplitudes of swing angle are obviously smaller than that no shapers applied and the settling time of the swinging pod are substantially reduced when the system accelerated into the constant velocity phase.