摘要
高速轻型机构在大幅度刚性运动的同时弹性构件存在着弹性变形,从而产生残留振动,导致刚性体运动与弹性体运动相互耦合,使整个系统难以精确定位。在研究含有刚性模态弹性机构的动力学特性的基础上,将时滞环节引入控制系统中,提出PD结合输入整形控制策略,研究在阶跃输入信号作用下PD结合输入整形控制系统的振动特性,分析输入整形对系统控制力和能耗的作用规律。在相同反馈增益的情况下,与PD反馈控制相比较,PD结合输入整形控制系统控制力降低56%,能耗降低47%,同时提高了系统的响应速度。
The elastic deformations and residual vibrations of flexible mechanisms are usually raised along with the motions of rigid bodies in light-duty and high-speed mechanisms.The motions of flexible bodies are coupled with the motions of rigid bodies that result in lower locating precision of the mechanism.Based on studying the dynamical performances of the flexible mechanisms with a rigid mode motion,time-delay was introduced in a control system and PD combined with input-shaping control was presented for mechanical structures.The dynamical behavior of the presented control system,subjected to step inputs,was investigated.The actuator efforts and energy usage of PD combined with input-shaping control system were described in general formula.Under the condition of the same feedback gain as the PD feedback control,the proposed control minimizes actuator effort by 56%,saves energy by 47%,and speeds system response.
出处
《振动与冲击》
EI
CSCD
北大核心
2010年第12期158-161,共4页
Journal of Vibration and Shock
基金
国家自然科学基金(50975121)
吉林省科技发展计划基金(20096004)
关键词
弹性机构
输入整形
PD控制
残留振动
控制力
能耗
flexible mechanism
input shaping
PD control
residual vibration
actuator effort
energy consumption
