Quick Suppression of Vibration of Robot via Hybrid Input Shaping Control Strategy

被引：1

作者：

Wei Y. ^{[1
,2
]}

Li B. ^{[1
,3
]}

Zhang Q. ^{[1
]}

Ou P. ^{[3
]}

机构：

[1] School of Engineering, Huzhou University, Huzhou

[2] Department of Mechanical Engineering, McGill University, Montreal

[3] Department of mining and Materials Engineering, McGill University, Montreal

来源：

Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University | 2019年 / 37卷 / 03期

关键词：

Hybrid vibration control; Input shaping; Multiple-modal; Negative impulse; Robot;

D O I：

10.1051/jnwpu/20193730636

中图分类号：

学科分类号：

摘要：

When the vibration amplitude and resonant frequency bandwidth of each mode are different in the multiple-modal system, the response time of a system is increased but the residual vibration is effectively reduced by the positive impulses multiple-modal input shapers. However, a negative impulses hybrid multiple-modal input shaping method can solve those problems. The basic principle of this control strategy and a 3-DOF parallel robot were introduced. Six negative impulses hybrid input shapers to reduce vibration of the first two modes were constructed based on the robot. Using simulation methods, the response time and vibration suppression abilities of various negative impulses hybrid two-modal input shapers (NHTIS) were obtained by analyzing the vibration response curves of these input shapers, and comparing with positive and negative impulses two-modal input shapers, respectively. The results show that the NHTIS can improve the response speed of the system while significantly reducing the multiple-modal residual vibration. © 2019 Journal of Northwestern Polytechnical University.

引用

页码：636 / 642

页数：6

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