负脉冲鲁棒输入整形器的频域设计方法

摘要

研究机械定位优化系统,传统的输入整形器主要在时域中研究,并利用数字优化方法,实现闭环稳定性控制,但设计过程复杂.针对上述问题,提出采用频域的零点配置方法通过在系统极点附近配置多个整形器零点来设计,采用多峰输入整形器以及含有负脉冲的多峰鲁棒输入整形器,并同时通过负脉冲整形器的性能分析,给出了满足执行器约束的负脉冲幅值约束条件,在桥式起重机防摆控制中的应用证明了设计方法有效.和经典的梯形防摆方法相比,用多峰输入整形器能更有效地抑制负载的残留振荡,同时对绳长变化具有更好的鲁棒性,同时设计的负脉冲鲁棒整形器可以减小系统的上升时间,增加控制的稳定性,提高系统的定位精度和效率.%Traditional input shaper is designed in time domain by numerical optimation method, whose design is complicated. In this paper, zero placement method in the frequency domain is utilized to design multi-hump robust input shapers by placing two or more shaper zeros nearby the system pole. Furthermore, the design strategy can also be extended to design input shapers containing negative impulses. This design strategy is easier to derive and implement. And the constraints of the negative shaper amplitudes are given for not violating actuator limits. Application in the anti-swing control of overhead cranes verified the fine performance of this strategy. Compared with the typical trapezoidal anti-swing approach, a better suppression of the load residual vibrations is obtained using the proposed multi-hump input shapers which are more robust to the variation of the cable length. And the rise time can be improved using the designed negative robust shapers, which can improve the operational efficiency.