一种同时抑制柔性结构残余振动和能量消耗的有效轨迹规划方法

Akira Abe
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引用次数: 19

摘要

针对柔性结构点对点运动中残余振动的抑制问题,提出了一种最小能量前馈控制方法。该方法通过一个输入为多项式函数输出的摆线函数来生成PTP运动的轨迹轮廓。得到的轨迹依赖于多项式函数的系数。为了实现对残余振动的抑制以及该PTP运动的运行能量,采用元启发式算法对系数进行了调整。在数值模拟中,我们研究了单连杆柔性机械臂和附加在柔性连杆上的机械臂的PTP运动。仿真结果与前人的研究结果进行了比较,验证了所提方法的有效性。
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An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures

This paper presents a proposal for a minimum energy feedforward control technique for flexible structures to suppress residual vibrations in point-to-point (PTP) motion. In the proposed method, the trajectory profile of the PTP motion is generated through a cycloidal function whose input is the output of a polynomial function. The obtained trajectory is dependent upon the coefficients of the polynomial function. To achieve the suppression of the residual vibration as well as the operating energy of this PTP motion, the coefficients are tuned by metaheuristic algorithms. In the numerical simulations, we investigated the PTP motions of a single-link flexible manipulator and a robotic arm attached to a flexible link. The simulation results were compared with those of previous studies, revealing the effectiveness of the proposed method.

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Editorial Board An effective trajectory planning method for simultaneously suppressing residual vibration and energy consumption of flexible structures Measured-based shaker model to virtually simulate vibration sine test A smart experimental setup for vibration measurement and imbalance fault detection in rotating machinery Measured-based shaker model to virtually simulate vibration sine test
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