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 complexthat it is difficult and unrealistic to get the accurate frequency anddamping of the structures in engineering. The parameters will change becauseof the variations of the external environment and disturbance even if theparameters can be measured. Therefore, it is necessary to design a shaperthat is robust to system parameters. In this paper, a new hybridExtra-Insensitive(EI) input shaping method based on zero-placement technique(ZPT) is presented. Based on the deviation value points, the ZV shaper basedon ZPT is changed into EI or ZVD shaper easily, but the quantity of impulsesand delay time do not increase. From the principle of deviation valuepoints, the higher hybrid EI shaper and Multi-EI shaper are designed and theincreasing amplitude of the robustness is much larger than the increasingamplitude of delay time. At last, the vibration of multi-mode flexiblestructure is suppressed using the EI shaper through the periodicity ofshaper. This method make the quantity of impulse reduce largely, while makethe delay time change little. The simulations validate the present shaper.