CAJ | 학술논문

针对诸如柔性机械臂这类柔性系统的主动振动控制问题，提出了基于改进型负输入整形和最优控制结合的振动抑制方法。以柔性机械臂为研究对象，设计最优状态反馈控制实现其旋转机动任务及柔性振动抑制。为增强柔性振动抑制效果和改善系统的运动时间，根据引入线性二次型调节器（LQR）反馈后整个闭环系统的振动频率和阻尼比设计改进型负输入整形器作为前馈控制器。将前馈控制与反馈控制相结合能发挥其各自的优点，提高系统的性能。仿真分析结果表明，所设计的混合控制策略可以有效地抑制柔性振动，且可以减少系统响应时间的延迟和加快系统响应速度。
침대제여유성궤계비저류유성계통적주동진동공제문제，제출료기우개진형부수입정형화최우공제결합적진동억제방법。이유성궤계비위연구대상，설계최우상태반궤공제실현기선전궤동임무급유성진동억제。위증강유성진동억제효과화개선계통적운동시간，근거인입선성이차형조절기（LQR）반궤후정개폐배계통적진동빈솔화조니비설계개진형부수입정형기작위전궤공제기。장전궤공제여반궤공제상결합능발휘기각자적우점，제고계통적성능。방진분석결과표명，소설계적혼합공제책략가이유효지억제유성진동，차가이감소계통향응시간적연지화가쾌계통향응속도。
A new vibration reduction control strategy was presented.With it,the modified negative input shaping (MNIS)technique was combined with the optimal control method for active vibration control of flexible systems,such as, a flexible manipulator.An optimal state feedback controller was designed for the flexible manipulator maneuver and its vibration eliminating.To improve the performance of vibration control and reduce the system response time duration,a modified negative input shaper was used as a feed-forward controller,it was designed to utilize the vibration frequency and damping ratio of the whole closed loop system with a linear quadratic regulator (LQR).Combining the feed-forward control and feedback control and utilizing the respective advantages,the performance of the control system can be improved.Both analytical and numerical results were presented to demonstrate the effectiveness of the hybrid control strategy.It was shown that the proposed method can be used to reduce the time delay of the system's response and increase the response speed of the system.