摘要
采用模型输入控制方法进行柔性臂残余振动控制研究 ,在对实际实验系统建模和仿真的基础上 ,进行了实验研究。采用压电加速度传感器和集成半导体激光与光敏位置传感器测量振动信号。
Though intuitively simple and easy to follow, input shaping has been shown to give good performance in control of flexible structures and being insensitive to modeling errors. This paper focuses on the control of the residual vibrations of flexible link robots by using input shaping method. Based on modeling of the experimental flexible arm and the Matlab simulations, experiments were conducted to verify the validity of this method. A piezo-accelerometer as well as two integrated laser diode and position sensitive detectors (PSDs) were employed to measure the vibration signals. The experimental results show the efficiency of the method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第12期1408-1412,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目 ( 5 95 85 0 0 35 9885 0 0 2 )
国家 86 3高技术研究发展计划资助项目 ( 86 3-2 -5 -1-2 )
教育部博士点科学基金资助项目
关键词
柔性臂
模型输入控制
振动控制
flexible arm input shaping control vibration control
