Sung Yoon-Gyung, Lee Seongjun
Department of Mechanical Engineering, Chosun University, 309 Pilmun-daero, Dong-gu, Gwangju 61452, Republic of Korea.
Micromachines (Basel). 2024 Aug 28;15(9):1086. doi: 10.3390/mi15091086.
This paper presents robust input shaping commands with first-order actuators utilizing a classical robust input shaper for practical applications in input shaping technology. An ideal input shaping command can deviate due to actuator dynamics so that the modified command has a detrimental effect on the performance of oscillation reduction in feedforward control applications. A zero-vibration-derivative (ZVD) shaper with first-order actuators is analytically proposed using a phasor-vector approach, an exponential function for the approximation of the dynamic response of first-order actuators and the usage of the ZVD shaper. In addition, an equivalent transformation is utilized based on the superposition principle for the convenient inclusion of first-order actuator dynamics and is applied to the individual segment input command. The residual deflection and robustness of the proposed robust input shaping commands are numerically evaluated and compared with those of a conventional ZVD shaper with respect to the parameter uncertainties of flexible systems and actuators. The robust input shaping commands that are possible with first-order actuators are experimentally validated, presenting a better robustness and residual deflection reduction performance than the classical ZVD shaper on a mini bridge crane.
本文利用经典的鲁棒输入整形器，为具有一阶执行器的实际应用提出了鲁棒输入整形指令，用于输入整形技术。由于执行器动力学特性，理想的输入整形指令可能会发生偏差，从而使修改后的指令对前馈控制应用中的减振性能产生不利影响。采用相量-矢量法、一阶执行器动态响应近似的指数函数以及零振动导数（ZVD）整形器的使用，解析地提出了一种具有一阶执行器的零振动导数（ZVD）整形器。此外，基于叠加原理利用等效变换，以便于纳入一阶执行器动力学，并将其应用于各个分段输入指令。针对柔性系统和执行器的参数不确定性，对所提出的鲁棒输入整形指令的残余挠度和鲁棒性进行了数值评估，并与传统ZVD整形器进行了比较。具有一阶执行器的鲁棒输入整形指令在小型桥式起重机上通过实验得到了验证，与经典ZVD整形器相比，具有更好的鲁棒性和残余挠度降低性能。
