摘要
将参数变化范围作为先验知识,以输入整形器的幅频特性为目标函数,用多项式近似的方法简化目标函数,在系统参数变化范围内,令幅频特性各峰值相等,基于优化理论确定零点频率,计算脉冲序列的幅值和时间,设计出近似极不灵敏输入整形器。这一设计方法推导过程简单,明确给出零点频率。在参数变化范围内能有效消除柔性系统的残留振荡,因此有更强的鲁棒性。将这一控制技术用于桥式起重机实验系统中,可以有效抑制载荷的残留摆动。
Taking the variation ranges of the system parameters as the apriori knowledge and the magnitude-frequency performance of the time-delayed filter as objective function expressed by the approximative polynomial, the optimal zero-frequencies, which resulted in the equal peaks in the curve of magnitude-frequency performance, were solved according to the optimization theory. A near extra-insensitive input shaper was proposed by taking the magnitude-frequency performance of input shaper as objective function and approximating the function with a polynomial. The complexity of the deriving process was reduced and the frequencies of the input shaper zeros were solved quantitatively. The shaper can effectively suppress the residual vibration in the range of parameter variations and is more robust than the original one. The control technique is used in gantry crane experiment system and can efficiently restrain the residual oscillation of payload.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第3期781-783,共3页
Journal of System Simulation
基金
山东省教育厅科技计划项目基金(J00E52)
关键词
柔性系统
整形
振荡
极不灵敏
flexible system
shaping
vibration
extra-insensitive
