【摘要】 伺服系统在驱动柔性负载定位时,末端的残留振荡严重影响定位精度与效率。在伺服中应用输入整形器实现对末端抖动的抑制。首先对柔性负载建模,将其等效为二质量系统。然后分析几种整形器原理及优缺点,提出ZVD整形器与最优整形器结合的方法,在高频振荡时使用ZVD整形器获取较好的抑振效果,在低频振荡时使用最优整形器减小整形器时滞。最后,通过MATLAB仿真验证了算法的有效性,并在瑞萨RX62T平台中实现,实验验证了算法在抑制末端抖动方面具有显著的效果。更多还原

【Abstract】 Residual vibration at the end of flexible load affects the accuracy and efficiency severely when servo system is positioning.Input shapers is used in servo to suppress residual vibration.Firstly,the flexible load is modeled,and it equivalents to a two-quality system.Secondly,several kinds of input shapers were analyzed and their advantages and disadvantages are proposed in this paper.A control strategy is proposed though combining ZVD input shaper with optimal input shaper,which using ZVD shaper in high frequency oscillation to obtain better effects of vibration suppression,and using optimal shaper in low frequency oscillation to reduce time delay.Finally,simulation and experiment are carried out.更多还原