基于混合EI成型器的多模态柔性结构振动控制

提出了一种基于零点配置技术的EI(extra-insensitive)成型器设计方法. 通过偏值点, 将基于零点配置的传统ZV成型器转换为EI成型器或者ZVD成型器, 并且保持延迟时间与脉冲数量不变. 基于偏值点设计了二阶混合EI成型器和Multi-EI成型器, 该成型器在延迟时间不变的情况下鲁棒性得到很大提高. 利用成型器具有周期性的特点, 设计了一种多模态柔性结构振动控制方法, 在保证延迟时间差别不大情况下, 使成型器的脉冲数量有明显减少. 仿真结果验证了该方法的有效性. 

VIBRATION CONTROL OF MULTI-MODE FLEXIBLE STRUCTURE BASED ON HYBRID EXTRA-INSENSITIVE SHAPER

The modal experiment of flexible structures is so complex that it is difficult and unrealistic to get the accurate frequency and damping of the structures in engineering. The parameters will change because of the variations of the external environment and disturbance even if the parameters can be measured. Therefore, it is necessary to design a shaper that is robust to system parameters. In this paper, a new hybrid Extra-Insensitive(EI) input shaping method based on zero-placement technique (ZPT) is presented. Based on the deviation value points, the ZV shaper based on ZPT is changed into EI or ZVD shaper easily, but the quantity of impulses and delay time do not increase. From the principle of deviation value points, the higher hybrid EI shaper and Multi-EI shaper are designed and the increasing amplitude of the robustness is much larger than the increasing amplitude of delay time. At last, the vibration of multi-mode flexible structure is suppressed using the EI shaper through the periodicity of shaper. This method make the quantity of impulse reduce largely, while make the delay time change little. The simulations validate the present shaper.