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.
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[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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