柔性系统输入成形控制方法研究+文献综述

摘要柔性系统是一类应用广泛的系统，从超小型系统到大型工业塔吊系统，均会受到柔性体残余振动的影响。输入成形是一种减小柔性系统余振的前馈控制技术，通过把参考输入信号和一系列脉冲进行卷积，得到成形输入信号，再将成形输入信号作用于被控对象，达到消除余振的目的。
本毕业论文以二阶线性系统为被控对象，总结了各种输入成形器的设计方法，包括ZV、ZVD、ZVDD等变幅值成形器以及等幅值UMZV成形器，并对它们的控制性能进行了比较。随后介绍了输入成形器与PID控制器的联合控制策略，提出用粒子群算法优化成形器与PID控制器参数。本文最后结合柔性结构体的多模态情形，用卷积法设计了多模态输入成形器。10944
关键词输入成形、反馈控制、鲁棒、粒子群算法、多模态系统
毕业设计说明书（论文）外文摘要
Title    Study on Input Shaping Control for Flexible System
Abstract
The flexible system is a widely used system, ranging from nanopositioning devices to large industrial cranes. Input Shaping is a kind of feedforward control technology to reducing unwanted transient deflection. The method works by creating a command signal that cancels its own vibration. That is, Input Shaping is implemented by convolving a sequence of impulses with any desired command, then the shaped command that results from the convolution is used to move the flexible system without vibration.
This thesis first expressed the importance of the Input Shaping techonlogy. Then, summarized various Input Shaper design, including the ZV(Zero Vibration) Shaper, ZVD(Zero Vibration and Derivative) Shaper, ZVDD Shaper, UMZV(Unity Magnitude Zero Vibration) Shaper and so on, and the performance of their control were compared. This paper also introduced a joint control strategy of the input shaper and PID controller, proposed particle swarm optimization algorithm to determine the input shaping and PID controller parameters . At last, we would discuss how to design Input Shaper for the Multi-mode system.
Keywords Input Shaping, Feedback Control, Robust, PSO, Multi-mode system
目次
1 绪论    1
1．1 输入成形技术简介    1
1．2 本文主要内容    4
2 输入成形器设计方法    5
2．1 ZV输入成形器    5
2．2 ZVD输入成形器    7
2．3 ZVDD输入成形器    8
2．4 UMZV输入成形器    9
2．5 ZV、ZVD、ZVDD、UMZV输入成形器的鲁棒性    9
2．6 EI输入成形器    10
2．7 双峰EI输入成形器    11
2．8 EI、双峰EI输入成形器的鲁棒性    11
2．9 本章小结    12
3 输入成形器抑制剩余振动的仿真研究    13
3．1 输入成形器抑制剩余振动的仿真结果    13
3．2 输入成形器控制性能分析    16
3．3 本章小结    18
4 输入成形器与PID控制器的联合控制策略    19
4．1 理论基础    19
4．2 基于粒子群算法的联合控制器设计    19
4．3 联合控制器仿真与分析    22
4．4 本章小结    24
5 多模态输入成形器控制策略    25
5．1 理论基础    25
5．2 双模态ZV成形器设计    25
5．3 双模态ZVD成形器设计    26 柔性系统输入成形控制方法研究+文献综述:http://www.751com.cn/zidonghua/lunwen_10190.html