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浙江大学学报(工学版)
J4  2012, Vol. 46 Issue (8): 1520-1525    DOI: 10.3785/j.issn.1008-973X.2012.08.025
自动化技术     
变负载条件下柔性臂自适应预整形振动控制
倪初锋, 刘山
浙江大学 工业控制研究所,浙江 杭州 310027
Adaptive preshaping vibration control for load-varying
flexible manipulator
NI Chu-feng, LIU Shan
Institute of Industrial control, Zhejiang University, Hangzhou 310027, China
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摘要：

针对单连杆柔性臂负载发生变化的情况,提出克服柔性臂末端振动的在线自适应输入预整形（OAPCA）方法.该方法将柔性臂连杆角速度的变化看作2阶振动模态的组合,在线设计前馈脉冲预整形输入,脉冲的时间和幅值由模态频率和阻尼值计算得到.当系统振动频率随负载变化后,预整形器失去振动抑制作用,将前馈输入整形控制、比例积分（PD）控制及快速傅里叶变换（FFT）算法相结合,设计自适应整形器抑制柔性臂末端振动.理论上证明OAPCA方法的可行性,并对频率失配的情况进行鲁棒性能分析,进行仿真研究.结果表明,柔性臂OAPCA方法具有良好的末端振动抑制能力和关节角跟踪能力,能够有效解决变负载单模态振动控制问题.
Abstract:

An online adaptive preshaping command algorithm (OAPCA) for tip vibration control of the single flexible manipulator was proposed in the situation of load varying. The angular velocity of manipulator’s link was expressed as a series of second-order linear vibration modes, which was taken advantage to design feedforward impulse preshaping input online. The impulse time and amplitude were calculated through modes frequency and damping value. Preshaping command would lose its vibration suppressing function when the system frequency changed during manipulator’s load varied. Then the vibration of manipulator’s tip was suppressed by adaptive preshaping input command designed according to preshaping command, proportional plus derivative (PD) control and fast Fourier transform (FFT) method. Meanwhile, the feasibility of the algorithm was proved through theoretical analysis, and then the robust performance with frequency mismatch was analyzed in detail. Simulations were carried out finally. Results show OAPCA for flexible manipulator can solve load-varying one-mode vibration control problem and has qualified tip vibration suppressing and angular input tracking ability.
出版日期: 2012-09-23
:  TP 241  
基金资助:

国家自然科学基金资助项目（61273133）；浙江省自然科学基金资助项目(Y1090212).
通讯作者: 刘山，男，副教授.     E-mail: sliu@iipc.zju.edu.cn
作者简介: 倪初锋（1985—），男，硕士生，从事机器人振动控制研究.E-mail:nicof@sohu.com
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引用本文:

倪初锋, 刘山. 变负载条件下柔性臂自适应预整形振动控制[J]. J4, 2012, 46(8): 1520-1525.

NI Chu-feng, LIU Shan. Adaptive preshaping vibration control for load-varying
flexible manipulator. J4, 2012, 46(8): 1520-1525.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2012.08.025    或    http://www.zjujournals.com/eng/CN/Y2012/V46/I8/1520

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