基于PD结合输入整形控制的含有刚性模态弹性机构的力及能耗分析

高速轻型机构在大幅度刚性运动的同时弹性构件存在着弹性变形,从而产生残留振动,导致刚性体运动与弹性体运动相互耦合,使整个系统难以精确定位。在研究含有刚性模态弹性机构的动力学特性的基础上,将时滞环节引入控制系统中,提出PD结合输入整形控制策略,研究在阶跃输入信号作用下PD结合输入整形控制系统的振动特性,分析输入整形对系统控制力和能耗的作用规律。在相同反馈增益的情况下,与PD反馈控制相比较,PD结合输入整形控制系统控制力降低56%,能耗降低47%,同时提高了系统的响应速度。

Analysis on force and energy consumption for elastic mechanisms with a rigid mode motion based on PD combined with input-shaping control

The elastic deformations and residual vibrations in flexible mechanisms are raised along with the motions of rigid bodies in light-duty and high-speed mechanisms. The motions of flexible bodies couple with the motions of rigid bodies that result in lower locating precision of the mechanism. In this paper, based on researching the dynamical performances of the flexible mechanisms with a rigid mode, time-delay is introduced in a control system and PD combined with input-shaping control is presented for the mechanical structures. The dynamical behavior of PD combined with input-shaping control system, subject to step inputs, is investigated. The actuator efforts and energy usage of PD combined with input-shaping control system are described in general formula. Given the condition of the same feedback gains as the PD feedback control, the PD combined with input shaping control minimizes actuator effort by 56%, saves energy by 47%, and speeds system response.