【摘要】 抑制柔性臂在制动后的余振有利于提高桥式堆垛机停车的稳定性和定位性的准确性。考虑由于柔性臂弹性引起的振动,结合电机传动特性建立其运动模型。讨论了加加速限制和加加速衰减等常用的输入整形算法对其余振的抑制,并选择性能较优的整形算法进行进一步研究。最后,提出了一种更优化的余振抑制方法:用加加速衰减作为输入整形,并用LQR优化其余振抑制效果和鲁棒性。详细论述了两种输入整形的原理和LQR的设计方法,然后进行了振动曲线的仿真和实验,验证了其余振抑制的效果。更多还原

【Abstract】 The suppression of the residual vibration of flexible arms after braking is beneficial to improve the parking stability and positioning accuracy of the bridge stacker. Considering the vibration caused by the elasticity of flexible arms, the motion model of the flexible arm was established according to the transmission characteristics of the motor. The suppression effect of input shaping algorithms such as acceleration restriction and acceleration attenuation on other vibrations was discussed, and the shaping algorithm with better performance was selected for further study. Finally, a better residual vibration suppression method is proposed, that is, using accelerated attenuation is used as input shaping, and LQR is used to optimize the residual vibration suppression effect and robustness. In this paper, the principle of two kinds of input shaping and the design method of LQR were discussed in detail, and the simulation and experiment of vibration curve were carried out to verify the effect in suppressing residual vibration.更多还原