Vibration Suppression of Flexible Systems by Velocity Feedback

被引：0

作者：

Yang, Lei ^{[1
]}

Wan, Zhi ^{[1
]}

Qu, Yunfei ^{[1
]}

Wang, Nianfeng ^{[2
]}

机构：

[1] Shenzhen Inovance Technol Co Ltd, Shenzhen, Peoples R China

[2] South China Univ Technol, Dept Mechatron Engn, Guangzhou 510640, Guangdong, Peoples R China

来源：

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we have derived a simple model of a flexible system by introducing equivalent spring and damper. Through theoretical analysis of this model, damping coefficient is found to be the key factor in determining the amplitude of resonance vibration and the attenuation rate of residual vibration. Based on a common industrial control structure, an additional velocity feedback (AVE) loop was added to increase system damping. Experiments carried out on industrial robots with different architectures and dynamical characteristics proved that this method is effective in reducing both resonance vibration and residual vibration.

引用

页码：1014 / 1021

页数：8

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