【摘要】 单模态弹性机构的动力学特性表现为长时间的减幅振动特性,针对单模态弹性机构的振动抑制问题,提出了一种PD自适应控制与输入整形相结合的振动控制策略,输入整形器作为前馈控制器作用在反馈回路的前向通道上,通过对输入命令进行整形,在保证参考模型完成指定运动的同时抑制掉弹性机构的残余振动;而对于闭环控制回路,考虑系统模型存在参数不匹配不确定性的影响,在输出反馈控制的基础上,给出了仅利用输出信息进行PD自适应控制器的设计方法,保证跟踪参考模型的输出以获得满意的性能。将该方法应用于桥式起重机的防摆控制中,仿真结果验证了所提方法的有效性。更多还原

【Abstract】 A single-mode flexible mechanism behaves the dynamical performance of a long-time damped vibration.A vibration control strategr based on adaptive PD control in conjunction with input-shaping technique was proposed for a single-mode flexible mechanism.The input shaper was implemented outside the feedback loop,it was designed to ensure a reference system to fulfil a prescribed motion and to achieve an exact reduction of the residual vibration of the mechanism by modifying the existing command,while the adaptive PD controller was designed to consider the impact of parametric uncertainties of the system and to obtain the satisfactory performance by tracking the output of the reference model.Simulation results for the anti-swing control of an overhead crane showed precise trajectory control and satisfactory vibration suppression.更多还原