柔性系统的混合时滞滤波器设计

Hybrid Time Filter Design in Flexible Systems

将系统频率或阻尼变化的分布函数引入时滞滤波器的设计中 ,得到一种期望残留振荡最小、能够适应参数变化的最优滤波器 ,并与传统滤波器的鲁棒性和时滞长度进行了比较 .通过插值的方法来设计混合时滞滤波器 ,能够很方便地得到近似最优滤波器 ,大大减少了计算量 .将所设计的时滞滤波器应用到柔性机械臂末端残留振动的控制系统中 ,实验结果表明 ,残留振动最小的混合时滞滤波器与最优时滞滤波器的控制效果基本相同 .从而得到了一种用比较简单的设计方法得到性能较好的时滞滤波器的有效途径 .

A new time delay filter method that allows system parameters to be weighted according to the expected modeling errors was developed, reduces residual vibration to a minimal level. Compared with the previously proposed time delay filter designs in terms of shaper length, insensitivity and expected level of residual vibration were achieved. Furthermore, a hybrid time delay filter with minimal levels of residual vibration by interpolation method is proposed, which avoids the complexity of solving full optimization problems.