摘要
多模态输入整形器能够很好地抑制多模态系统的残余振动,而且通过时间优化能够减少系统响应的时间延迟.介绍了两种基于时间优化的多模态输入整形器:多模态部分和负脉冲输入整形器与多模态单位幅度负脉冲输入整形器.构建了一种三自由度柔性机器人的两模态部分和负脉冲与单位幅度负脉冲输入整形器.通过数字仿真,这两种输入整形器在有效抑制机器人残余振动的同时减少了系统响应的时间延迟,且两模态单位幅度负脉冲输入整形器能够改善系统减振的效果.
The residual vibration of a multi-mode system can be greatly reduced by a multi-mode input shaper,and the delay in system response time can be shortened by time optimization.Two time-optimal multi-mode input shapers with negative impulse are described： one involves partial sum and the other involves unity-magnitude.The two-mode negative impulse input shapers involving both partial sum and unity-magnitude of a 3-DOF flexible manipulator were framed.The numerical simulation results showed that these two kinds of input shapers are able to not only shorten the delay in system response time but also reduce the residual vibration of the system efficiently,thus suppressing the vibration of the system.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2010年第9期1337-1340,共4页
Journal of Northeastern University(Natural Science)
基金
国家高技术研究发展计划项目(2007AA04Z428)
关键词
残余振动
多模态
负脉冲
时间延迟
减振
residual vibration
multi-mode
negative impulse
delay-time
vibration reduction
