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

混和输入整形控制策略快速抑制机器人振动

¹ School of Engineering, Huzhou University, Huzhou 313000, China
² Department of Mechanical Engineering, McGill University, Montreal H3A0C3, Canada
³ Department of mining and Materials Engineering, McGill University, Montreal H3A0C5, Canada

Received: 14 June 2018

Abstract

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.

摘要

当多模态系统中各个模态的振动幅度和共振频带宽度差异明显时，正脉冲多模态输入整形器在有效减小残余振动的同时却增加了系统响应时间，而负脉冲混合多模态输入整形方法可解决该问题。介绍了其控制策略的基本原理和一个3-DOF并联机器人，并构造6种减小该机器人前2个模态振动的负脉冲混合输入整形器。使用仿真获得了各种负脉冲混合两模态输入整形器（NHTIS）的振动响应曲线，分析了其响应时间和抑制振动的能力，并分别与正脉冲、负脉冲两模态输入整形器对比。结果表明NHTIS能在减小多模态残余振动的同时提高系统响应速度。