PD自适应控制结合输入整形抑制单模态弹性机构振动研究

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振动与冲击 ›› 2013, Vol. 32 ›› Issue (17) : 189-193.

论文

PD自适应控制结合输入整形抑制单模态弹性机构振动研究

贾鹏霄，李恩，梁自泽，强艳辉

作者信息 +

Research on Adaptive PD Control Combined with Input-shaping for Suppressing the Vibration of Single-mode Flexible Mechanical

JIA Peng-xiao LI En LIANG Zi-ze QIANG Yan-hui

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摘要

单模态弹性机构的动力学特性表现为长时间的减幅振动特性，针对单模态弹性机构的振动抑制问题，提出了一种PD自适应控制与输入整形相结合的振动控制策略，输入整形器作为前馈控制器作用在反馈回路的前向通道上，通过对输入命令进行整形，在保证参考模型完成指定运动的同时抑制掉弹性机构的残余振动；而对于闭环控制回路，考虑系统模型存在参数不匹配不确定性的影响，在输出反馈控制的基础上，给出了仅利用输出信息进行PD自适应控制器的设计方法，保证跟踪参考模型的输出以获得满意的性能。将该方法应用于桥式起重机的防摆控制中，仿真结果验证了所提方法的有效性。

Abstract

Single-mode flexible mechanical structures behave the dynamical performance of long-time damped vibration. A generalized scheme based on adaptive PD control in conjunction with input shaping technique is discussed for the Single-mode flexible mechanical structures. The input shaper is implemented outside the feedback loop, which is designed for the reference model and achieves the exact reduction of residual vibration by modifying the existing command; while the adaptive PD controller considering the impact of parametric uncertainties of the system can obtain the satisfactory performance by tracking the output of the reference model. Simulation results for the anti-swing control for the overhead crane show precise trajectory control and satisfactory vibration suppression.

导出引用

贾鹏霄;李恩;梁自泽;强艳辉 . PD自适应控制结合输入整形抑制单模态弹性机构振动研究[J]. 振动与冲击, 2013, 32(17): 189-193

JIA Peng-xiao LI En LIANG Zi-ze QIANG Yan-hui . Research on Adaptive PD Control Combined with Input-shaping for Suppressing the Vibration of Single-mode Flexible Mechanical [J]. Journal of Vibration and Shock, 2013, 32(17): 189-193