Volume 37, Number 3, June 2019
|Page(s)||636 - 642|
|Published online||20 September 2019|
Quick Suppression of Vibration of Robot via Hybrid Input Shaping Control Strategy
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
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.
Key words: input shaping / multiple-modal / negative impulse / hybrid vibration control / robot
关键字 : 输入整形 / 多模态 / 负脉冲 / 混合振动控制 / 机器人
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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