宇航学报

宇航学报 ›› 2013, Vol. 34 ›› Issue (10): 1346-1352.doi: 10.3873/j.issn.1000-1328.2013.10.008

• 制导、导航与控制 • 上一篇    下一篇

改进型负输入成形主动振动控制

赵志刚，梁磊，赵阳   

  1. 哈尔滨工业大学航天学院，哈尔滨 150001
  • 收稿日期:2013-03-05 修回日期:2013-04-18 出版日期:2013-10-15 发布日期:2013-10-25
  • 基金资助:

    国家重点基础研究发展计划（2013CB733000）；国家自然科学基金（50975056，11072066）

Modified Negative Input Shaping Active Vibration Control

ZHAO Zhi gang,  LIANG Lei,  ZHAO Yang   

  1. School of Astronautics，Harbin Institute of Technology， Harbin 150001，China
  • Received:2013-03-05 Revised:2013-04-18 Online:2013-10-15 Published:2013-10-25

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摘要：

针对柔性结构的主动振动控制问题，提出了一种改进型负输入成形方法。该方法设计成形器的脉冲序列包含多个正负依次交替的脉冲，通过所选择的脉冲数目和系统振动频率与阻尼比构成封闭形式解来直接确定成形器。与正输入成形方法相比可以改善系统的上升时间，而与传统的负输入成形方法相比不需要对时间约束条件进行优化。改进型负输入成形器所包含的脉冲个数可以自由选择，具有设计简单、灵活的优点。将其通过柔性机械臂进行仿真验证，结果表明：所提出的方法有效且可以快速实现振动抑制。

关键词: 柔性结构, 主动振动控制, 输入成形, 改进型负输入成形, 前馈控制

Abstract:

A new modified negative input shaping (MNIS) method is presented for active vibration control of flexible structure. The presented approach is allowed to design a modified negative input shaper by using some negative impulses and positive impulses alternately in the sequence of impulses. The modified negative input shaper is described by closed form function of the number of selected impulses and the system’s natural frequency and damping ratio. The rise time can be improved by comparing positive input shaper. The MNIS method needn’t numerical optimization subject to time constraints and the number of selecting impulses is free. The most significant advantage of the proposed modified negative input shapers is ease and flexibility of design. It is designed for a rotating flexible manipulator. The flexible manipulator can accomplish vibration suppression quickly by using the approach. Simulation results demonstrate the effectiveness of the proposed method.
 

Key words: Flexible structure, Active vibration control, Input shaping, Modified negative input shaping (MNIS), Feed forward

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