变负载下柔性系统的改进THEI输入整形器振动抑制

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振动与冲击 ›› 2024, Vol. 43 ›› Issue (18) : 113-120.

论文

变负载下柔性系统的改进THEI输入整形器振动抑制

付威威1，陶友瑞1，韩旭1,2，胡俊宇2，张建宁3，李珊瑚3，裴文良4

作者信息 +

Improved THEI input shaper for the vibration suppression of flexible systems under variable loads

FU Weiwei1，TAO Yourui1，HAN Xu1,2，HU Junyu2，ZHANG Jianning3，LI Shanhu3，PEI Wenliang4

Author information +

文章历史 +

摘要

针对高精度运动平台中柔性系统负载改变而导致的固有频率和阻尼比双参数共同变化下输入整形器不敏感性优化问题，提出一种改进双股峰EI（two-hump extra-insensitive ,THEI）输入整形器的设计方法，实现在相同滞后时间的前提下改善THEI输入整形器的不敏感性。该改进THEI整形器在正向设计传统THEI输入整形器的基础上，加入对双参数不敏感性的反向优化。首先，利用三维灵敏度曲线推导了用于量化THEI输入整形器双参数不敏感性的评价指标；其次，建立了以幅值调节因子为设计变量的优化脉冲约束下THEI输入整形器双参数不敏感性优化模型；基于蚁群优化(ant colony optimization, ACO)算法求解设计变量，并更新改进THEI输入整形器的脉冲幅值，实现不敏感性最优。最后，数值仿真和实验结果共同验证了所提方法的有效性。

Abstract

Aiming at the optimization problem of insensitivity for the input shaper under the variation of natural frequency and damping ratio caused by the load change of the flexible system in high-precision multi-axis motion stages, an improved two-hump extra-insensitive (THEI) input shaper design method is proposed. The insensitivity of the THEI input shaper is improved with the same delay time. This improved THEI shaper incorporates an inverse optimization for two-parameter insensitivity to the forward design of the traditional THEI input shaper. Firstly, an evaluation index for quantifying the two-parameter insensitivity of the THEI input shaper is derived using a three-dimensional sensitivity curve. Then, a two-parameter insensitive optimization model of the THEI input shaper under the optimal impulse constraints with the amplitude adjustment factor as the design variable is developed. The design variables are solved based on ant colony optimization (ACO) algorithm and updated to the impulse amplitude of the improved THEI input shaper to achieve insensitive optimality. Finally, numerical simulation and experimental results jointly verify the effectiveness of the proposed method.

导出引用

付威威1, 陶友瑞1, 韩旭1, 2, 胡俊宇2, 张建宁3, 李珊瑚3, 裴文良4. 变负载下柔性系统的改进THEI输入整形器振动抑制[J]. 振动与冲击, 2024, 43(18): 113-120

FU Weiwei1, TAO Yourui1, HAN Xu1, 2, HU Junyu2, ZHANG Jianning3, LI Shanhu3, PEI Wenliang4. Improved THEI input shaper for the vibration suppression of flexible systems under variable loads[J]. Journal of Vibration and Shock, 2024, 43(18): 113-120

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