Residual vibration suppression method based on fuzzy cluster inverse model

A technology of fuzzy clustering and residual vibration, which can be used in adaptive control, general control system, control/regulation system, etc., and can solve the problems of large control range and difficult processing.

Active Publication Date: 2016-11-30
BEIJING UNION UNIVERSITY
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Problems solved by technology

[0003] However, the existing vibration control technology mostly relies on the precise mathematical model of the system. The pulse signal applied to offset the residual vibration requires a very precise time node for its generation. The residual vibration generally requires several pulses to be eliminated. Larger, more difficult to deal with when multiple vibration modes exist

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  • Residual vibration suppression method based on fuzzy cluster inverse model
  • Residual vibration suppression method based on fuzzy cluster inverse model
  • Residual vibration suppression method based on fuzzy cluster inverse model

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Embodiment Construction

[0054] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following takes the vibration control of a flexible load of a tomato string picking robot as an example to illustrate the implementation of the present invention in detail.

[0055] Such as figure 1 As shown, the embodiment of the present invention provides a residual vibration suppression method based on a fuzzy clustering inverse model, which includes the following steps:

[0056] Step S1: Obtain output and input data pairs according to the vibration mode sampling to be suppressed by the system;

[0057] Step S2, according to the obtained output and input data pair, apply fuzzy clustering modeling technology to obtain the inverse model of the vibration mode to be suppressed offline;

[0058] Step S3, from the fuzzy clustering inverse model obtained offline, calculate the control effect at the next moment online according to the output and input of the system.

[0059] Step ...

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Abstract

The invention discloses a residual vibration suppression method based on a fuzzy cluster inverse model. A fuzzy cluster inverse model is built in an off-line manner according to output data and input data of vibration modes required to be suppressed by a system at a current moment, and a control function at a future moment is acquired in an on-line manner. By adopting a superposition principle, the output of the acquired fuzzy cluster inverse model at the next moment is superposed on an original control function, and therefore the residual vibration of the system is suppressed in a real-time manner. By adopting the technical scheme provided by the invention, the residual vibration of a plurality of vibration modes is effectively reduced, and the residual vibration suppression method is used for vibration suppression of a flexible load of a fruit and vegetable picking robot.

Description

Technical field [0001] The invention belongs to the field of automation control, and in particular relates to a residual vibration suppression method based on a fuzzy clustering inverse model. technical background [0002] Spacecraft, cranes, flexible robots and other systems with flexible mechanical links often have very small damping. Under the action of a step, the system exhibits long-term vibration, called residual vibration, which brings precise control of the system. difficult. In order to eliminate this residual vibration, people have proposed different methods. Generally speaking, they can be divided into two methods. One is the open-loop suppression method, and the typical representative is the input shaping technology. The other is a closed-loop suppression method, including various robust control and optimized control techniques. [0003] However, the existing vibration control technology mostly relies on the precise mathematical model of the system. The pulse signal ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 方建军佟世文闫晓宇王松
Owner BEIJING UNION UNIVERSITY
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