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Input reshaper for suppressing residual vibration of mechanical system

An input shaping, mechanical system technology, applied in control/regulation systems, mechanical pressure/force control, instruments, etc., can solve the problems of harmonic filtering and shaping output tailing, system shocks, etc.

Active Publication Date: 2016-07-20
CHINA LEADSHINE TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems that the existing input shaper still has a jump in the shaping output when the step signal is shaped, which has an impact on the system and the harmonic filter shaping output has a trailing phenomenon, a new type of input shaper is proposed to make the mechanical system suppress Residual vibration while reducing the impact of step response on the system

Method used

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  • Input reshaper for suppressing residual vibration of mechanical system
  • Input reshaper for suppressing residual vibration of mechanical system
  • Input reshaper for suppressing residual vibration of mechanical system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Such as Figure 4 and 5 As shown, an embodiment of the input shaper for suppressing the residual vibration of the mechanical system, the transfer function of the shaper is:

[0030] H ( z ) = 1 n · ( 1 - z - 1 ) · ( k 1 + k 2 · z - n + k 3 · z - 2 n + k...

Embodiment 2

[0038] This example compares the new input shaper with the ZV shaper through MATLAB simulation.

[0039] Considering the mechanical system with residual vibration, its transfer function is shown in formula 1-3.

[0040] G ( s ) = 2763 s 2 + 15590000 s 4 + 125.7 s 3 + 7896 s 2 + 496100 s + 15590000 Formula 1-3

[0041] S1. Design a new input shaper

[0042] When the sampling frequency f s =12000Hz, when the frequency of residual vibration to be suppressed is f=10Hz, formula 1-4 can be ob...

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Abstract

The invention discloses an input reshaper for suppressing residual vibration of a mechanical system. The reshaper is characterized in that a transfer function of the reshaper is shown in the specification, wherein k1, k2, k3 and k4 are gain coefficients, n is a time delay coefficient. According to the invention, the system impact is reduced, the first-order differential can be performed on a step signal, which is similar to a first-order filter, the medium-high frequency vibration and impact of torque are eliminated, the reshaper is suitable for the mechanical system with relatively poor rigidity, and the mechanical wearing can be reduced.

Description

【Technical field】 [0001] The invention relates to the field of mechanical system control, in particular to an input shaper for suppressing residual vibration of the mechanical system. 【Background technique】 [0002] In the positioning control system, due to the low rigidity of the end of the mechanical equipment, low-frequency vibration occurs at the end of the mechanical equipment when the state is switched, which is usually called residual vibration, which affects the positioning accuracy. Generally, there are three main ways to suppress low-frequency vibration: (1) structural optimization design, (2) feedback control, (3) input shaping. Structural optimization design generally needs to increase system damping and system stiffness by increasing system mass, but this will affect speed response or increase system energy consumption; feedback control requires additional sensors and detection circuits, which increases system cost, and sometimes sensors are inconvenient Instal...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D15/00
CPCG05D15/00
Inventor 吴立覃海涛田天胜李卫平
Owner CHINA LEADSHINE TECH CO LTD
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