| Due to the vibration mode, vibration will occur when flexible mechanism moves.Such residual vibration has a great impact on system performance. In order toeliminate the vibration, many scholars have conducted a series of studies includingtraditional active control and passive control. Born in the late90s of the last century,input shaping technique has provided new thoughts for vibration control. The firstthought was shaping the motion plan. Such program is open-loop control, withoutfeedback. Then researchers added the feedback loop to the program. They addedcontroller to realize feedback, and then shaped the closed-loop system. But thecontroller will affect the design of the input shaper, with performance weaken. Thisapproach can also be improved.A better program is to design the input shaper and the controller at the same time.The key is to decide the parameters of the shaper and controller simultaneously. Such amethod could achieve vibration-free state at a shorter time within the limits ofmaximum overshoot and maximum residual vibration. There must be error in themodeling of the system. This program is robust to the error enough. Compared with theprogram to design them separately, the system achieves better performance. Thesimultaneous design was made a optimization problem with some linear and non-linearconstraints. Then it chose the appropriate optimization algorithms and did a lot ofoptimization. Finally it got the best design. At last, experiments were did on the rockerplatform: Firstly the modeling progress was divided into two steps, and then the twomodels were in-lined into one. Secondly experiments were did on the platform insimultaneous design, under dynamic control. Finally vibration effects were tested withlaser vibrometer, and the data was processed in Matlab. Results showed thatsimultaneous design reduced a lot in overshoot and setting time compared with that ofusing controller alone and had a good effect in reduction of residual vibration. |
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