CN110632892B - Input shaping residual vibration suppression method and system adapting to motion system track error - Google Patents
Input shaping residual vibration suppression method and system adapting to motion system track error Download PDFInfo
- Publication number
- CN110632892B CN110632892B CN201910783628.6A CN201910783628A CN110632892B CN 110632892 B CN110632892 B CN 110632892B CN 201910783628 A CN201910783628 A CN 201910783628A CN 110632892 B CN110632892 B CN 110632892B
- Authority
- CN
- China
- Prior art keywords
- curve
- input
- track error
- signal
- pulse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention provides an input shaping residual vibration suppression method adapting to a motion system track error, which comprises the following steps: s1, acquiring natural frequency of mechanical system
And damping coefficient
(ii) a S2, establishing a mathematical model of a linear programming problem about pulse amplitude parameters of an input shaper and acquiring a pulse amplitude expression of the input shaper; s3, performing convolution operation on the reference input signal and the input shaper pulse signal to obtain a shaped command curve C 1 (ii) a S4, using C in S3 1 A curve driving system for obtaining an actual motion trajectory curve P under the current motion form 1 And the track error curve C 1 ‑P 1 (ii) a S5, using C 1 ‑P 1 Curve compensation curve C 1 As the next command curve C 2 A drive system for obtaining a track error curve C under the current motion form 1 ‑P 2 By C 1 ‑P 2 Compensation C 2 Then as the next command curve P 3 (ii) a S6, repeating the track error curve C in the step S5 1 ‑P 1,2,……n Compensation command curve P 1,2,……n As a next command curve, until the value of the trajectory error curve at each time is close to zero. The method for suppressing the residual vibration by the input shaper does not need to add other hardware equipment, and saves cost.
Description
Technical Field
The invention belongs to the field of mechanical control technology improvement, and particularly relates to an input shaping residual vibration suppression method and system adaptive to a motion system trajectory error.
Background
The mechanical motion structure driven by the motors, such as an industrial robot, a numerical control machine tool, a numerical control mechanical structure and the like, has the requirements of high speed, high precision and high stability. The mechanical kinematic structure is generally somewhat flexible due to the presence of the transmission components, such as reducers or pulleys. In the low-speed operation and the starting and stopping stages, the tail end of the mechanical motion structure can generate vibration. The vibration of the mechanical structure not only reduces the response speed of the system to the instruction, but also increases the waiting time between the processes and reduces the production efficiency and precision. Therefore, effective measures must be taken to suppress the vibration of the mechanical moving structure.
The passive vibration reduction method which increases the system damping and the structure rigidity can increase the overall weight of the system and increase the energy consumption of the system, the passive vibration reduction can not reduce the vibration with lower frequency, and the active vibration reduction needs to be provided with an additional energy device specially used for vibration reduction, which can increase the cost of the system. Therefore, it is necessary to develop a semi-active damping method capable of effectively suppressing the vibration of the mechanical system, which can reduce the system energy consumption and save the cost. However, the function of the vibration suppression method cannot be fully exerted due to the existence of the track error of the servo system, so that the track error of the servo system under a corresponding motion mode needs to be obtained, and a semi-active vibration suppression method for suppressing the residual vibration of the mechanical system by combining the track error is developed, so that the vibration of the mechanical system is better suppressed.
Disclosure of Invention
The invention aims to provide an input shaping residual vibration suppression method adapting to a motion system track error, and aims to solve the problems that the response speed of a system to an instruction is reduced due to the vibration of a mechanical structure, the waiting time among working procedures is increased, and the production efficiency and the precision are reduced.
The invention is realized in this way, the suppression method of the shaping residual vibration is input to adapt to the track error of the motion system, the suppression method includes the following steps:
s1, acquiring natural frequency w of a mechanical system 0 And a damping coefficient ε;
s2, establishing a mathematical model of a linear programming problem about pulse amplitude parameters of an input shaper and acquiring a pulse amplitude expression of the input shaper;
s3, performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped input curve C 1 ；
S4, using C in S3 1 A curve driving system for obtaining an actual motion trajectory curve P under the current motion form 1 And trajectory error curve C 1 -P 1 (trajectory error curve: C) 1 Curve and current motion patternActual motion trajectory curve P 1,2……n Wherein: p 1,2,……n Representing the actual movement curve of each time, C 1,2,……n Command curves representing respective times);
s5, using C 1 -P 1 Curve compensation curve C 1 As the next command curve C 2 A drive system for obtaining a track error curve C under the current motion form 1 -P 2 By C 1 -P 2 Compensation P 2 Then as the next command curve C 3 ；
S6, repeating the track error curve C in the step S5 1 -P 1,2,……n Compensation command curve C 1,2,……n As a next command curve, until the value of the trajectory error curve at each time is close to zero.
The further technical scheme of the invention is as follows: the step S1 of obtaining the natural frequency and the damping coefficient of the mechanical system includes the following steps:
s11, driving a load to move along an X axis by a motor and testing a vibration signal of the load by an acceleration sensor;
and S12, analyzing the residual vibration signal of the load through signal processing to obtain the natural frequency and the damping coefficient of the load.
The further technical scheme of the invention is as follows: the step S2 further includes the steps of:
s21, for a natural frequency of w 0 The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
s22, introducing an input shaper pulse to enable the impulse response of the mechanical system to be
S23, obtaining a finite impulse response under the action of an input shaper pulse of the mechanical system according to a triangular formula, and completely eliminating residual vibration, wherein the amplitude value must be zero;
s24, making the shaping time shortest, and making t 1 =0, and adding a gain constraint equation for the mechanical system to reach the original output point:
s25 according to the amplitude A i And a time lag t i An input shaper that determines each pulse and satisfies the above system of equations should contain only two pulses, the system of equations being available:
the following can be obtained:
wherein the content of the first and second substances,
is the ringing period.
The invention further adopts the technical scheme that: the step S21 is preceded by the following steps
S20, performing Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
wherein A is i And t i The amplitudes of the pulse train and the corresponding time lags, respectively, n being the number of pulses contained in the input shaper.
The further technical scheme of the invention is as follows: the step S4 further comprises the following steps
S41, planning a prediction path for the obtained new shaping signal;
and S42, driving a mechanical system by using the new shaping signal subjected to the predicted path planning processing to obtain a track error curve of the servo system in the motion mode.
The invention further adopts the technical scheme that: the step S5 further comprises the following steps
S51, compensating and shaping the track error curve to obtain a command signal;
and S52, driving a mechanical system to acquire a new track error curve by using the acquired input shaping signal with the track error offset.
It is another object of the present invention to provide a suppression system for shaping residual vibration in response to a trajectory error input of a motion system, the suppression system comprising
A frequency coefficient acquisition module for acquiring the natural frequency w of the mechanical system 0 And a damping coefficient ε;
the model establishing and expression obtaining module is used for establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and obtaining an input shaper pulse amplitude expression;
command curve C 1 A module for performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C 1 ；
Module for obtaining actual motion curve and track error curve for use with command curve C 1 C in module 1 CurveA drive system for obtaining the actual motion track curve P in the current motion form 1 And the track error curve C 1 -P 1 Wherein: p 1,2,……n Representing the actual movement curve of each time, C 1,2,……n A command curve representing each time;
compensation acquisition module for using C 1 -P 1 Curve compensation curve C 1 As the next command curve C 2 A drive system for obtaining a track error curve C under the current motion form 1 -P 2 By C 1 -P 2 Compensation C 2 Then as the next command curve C 3
A cancellation module for repeatedly compensating the trajectory error curve C in the acquisition module 1 -P 1,2,……n Compensation command curve C 1,2,……n As a next command curve, until the value of the trajectory error curve at each time is close to zero.
The further technical scheme of the invention is as follows: the frequency coefficient acquisition module acquires the natural frequency and the damping coefficient of the mechanical system and comprises
The signal acquisition unit is used for driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and the natural frequency and damping coefficient acquisition unit is used for analyzing the load residual vibration signal through signal processing so as to obtain the natural frequency and the damping coefficient of the load.
The invention further adopts the technical scheme that: the model establishing and expression obtaining module is also packaged
Establishing a closed loop function unit for a natural frequency of w 0 The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
an impulse response unit for introducing an input shaper impulse such that the impulse response of the mechanical system is
The computing unit is used for solving the finite impulse response presented under the action of the input shaper pulse of the mechanical system according to a triangular formula, completely eliminating residual vibration and ensuring that the amplitude value is zero;
adding a gain unit for minimizing the shaping time, and making t 1 =0, and adds a gain constraint equation for the mechanical system to reach the original output point:
a pulse acquisition unit for acquiring a pulse according to the amplitude A i And a time lag t i An input shaper that determines each pulse and satisfies the above system of equations should contain only two pulses, the system of equations being available:
the following can be obtained:
wherein the content of the first and second substances,
is the ringing period.
The further technical scheme of the invention is as follows: before the model is established and the closed loop function unit is established, the method also comprises
The frequency domain expression obtaining unit is used for carrying out Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
wherein A is i And t i The amplitude and the corresponding time lag of the pulse sequence are respectively, and n is the number of pulses contained in the input shaper;
the module for obtaining the track error curve further comprises the following steps
The path planning unit is used for carrying out prediction path planning processing on the obtained new shaping signal;
the signal driving unit is used for driving the mechanical system by using a new shaping signal subjected to predicted path planning processing to obtain a track error curve of the servo system under the motion situation;
the compensation shaping module also comprises the following steps
A signal compensation unit for compensating the command signal by using the trajectory error curve;
and the new track error curve acquisition unit is used for driving the mechanical system to acquire a new track error curve by utilizing the obtained shaping signal with the track error offset.
The beneficial effects of the invention are: the method for restraining the residual vibration is combined with the track error, and the effect of restraining the residual vibration by the input shaper is better played, so that the residual vibration of the system can be better restrained, and the stability, the control precision, the working efficiency, the service life of equipment and the like of the system operation are further improved.
Drawings
Fig. 1 is a flowchart of an input shaping residual vibration suppression method adapted to a trajectory error of a motion system according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the input shaping residual vibration suppression method for adapting to the trajectory error of the motion system provided by the present invention is detailed as follows:
step S1, natural frequency w of a mechanical system is obtained 0 And a damping coefficient ε; obtaining natural frequencies w in mechanical systems 0 And a damping coefficient epsilon.
S2, establishing a mathematical model of a linear programming problem about pulse amplitude parameters of an input shaper and acquiring a pulse amplitude expression of the input shaper; establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper, and solving an input shaper pulse amplitude expression by adopting a pulse response method; establishing a mathematical model of a linear programming problem about pulse amplitude parameters of an input shaper, and performing Laplace transformation on the mathematical model to obtain a frequency domain expression of the input shaper as follows:
wherein A is i And t i The amplitudes of the pulse train and the corresponding time lags, respectively, n being the number of pulses contained in the input shaper.
In a mathematical model of a linear programming problem with respect to input shaper pulse amplitude parameters, the following steps are included: 1) For a natural frequency of w 0 And establishing a closed loop transfer function of the mechanical system as follows according to a single vibration mode with the damping coefficient of epsilon:
2) After introducing the input shaper, the impulse response of the system is:
3) According to the trigonometric formula, if the system is required to exhibit limited pulses under the action of the input shaper
Impulse response, complete elimination of residual vibration, requires amplitude to be zero;
4) To minimize the shaping time, let t 1 =0, and to bring the system to the original output point, the gain constraint equation is added:
5) Each pulse is determined by two values: amplitude A i And a time lag t i The simplest input shaper that satisfies the above equation set should contain only two pulses, and the following equation set can be obtained:
the following can be obtained:
wherein
Is the ringing period.
S3, performing convolution operation on the reference input signal and the input shaper pulse signal to obtain a shaped input signal C 1 And then the signal is used to drive the system.
Step S4, using C in S3 1 A curve driving system for obtaining an actual motion trajectory curve P under the current motion form 1 And the track error curve C 1 -P 1 (trajectory error curve: C) 1 Curve and actual motion trail curve P under current motion form 1,2……n Wherein: p 1,2,……n Representing the actual movement curve of each time, C 1,2,……n Representing the respective command curve), the trajectory error curve is usually somewhat noisy and can be subjected to various filtering processes before compensating the shaped input signal.
Step S5, using C 1 -P 1 Curve compensation curve C 1 As the next command curve C 2 A drive system for obtaining a track error curve C under the current motion form 1 -P 2 By C 1 -P 2 Compensation C 2 Then as the next command curve C 3 (ii) a Since the track error can not be completely compensated once, a track error curve is obtained continuously.
Step S6, repeating the track error curve C in the step S5 1 -P 1,2,……n Compensation command curve C 1,2,……n As the next command curve, the track error curve is close to zero at each moment, thus eliminating the influence of the track error on the input shaping and vibration suppression, and better playing the role of the input shaping and vibration suppression of the residual of the mechanical system. The input shaper cannot fully exert the influence of the track error of the servo systemThe effect of restraining the residual vibration of a mechanical system is achieved, the track error is used for continuously compensating the input signal until the track error is close to zero, the influence caused by the track error can be eliminated, and therefore the effect of input shaping on restraining the residual vibration and the residual vibration of the system are better played.
The method for inhibiting the vibration is a semi-active vibration inhibition mode, and the semi-active vibration inhibition does not need to increase the mass of a mechanical system by increasing damping and rigidity like passive vibration inhibition, and does not need to add an additional expensive energy device for inhibiting the vibration like active vibration inhibition.
It is another object of the present invention to provide a suppression system for input shaped residual vibrations that accommodates errors in trajectory of a motion system, said suppression system comprising
A frequency coefficient acquisition module for acquiring the natural frequency w of the mechanical system 0 And a damping coefficient ε;
the model establishing and expression obtaining module is used for establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and obtaining an input shaper pulse amplitude expression;
command curve C 1 A module for performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C 1 ；
Module for obtaining actual motion curve and track error curve for use with command curve C 1 C in the module 1 A curve driving system for obtaining the actual motion track curve P under the current motion form 1 And the track error curve C 1 -P 1 Wherein: p 1,2,……n Showing the actual movement curve of each time, C 1,2,……n A command curve representing each time;
compensation acquisition module for using C 1 -P 1 Curve compensation curve C 1 As the next command curve C 2 A drive system for obtaining a track error curve C under the current motion form 1 -P 2 By C 1 -P 2 Compensation C 2 Then as the next command curve C 3
A elimination module for repeatedly compensating the track error curve C in the acquisition module 1 -P 1,2,……n Compensation command curve C 1,2,……n As a next command curve, until the value of the trajectory error curve at each time is close to zero.
The frequency coefficient acquisition module acquires the natural frequency and the damping coefficient of the mechanical system and comprises
The signal acquisition unit is used for driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and the natural frequency and damping coefficient acquisition unit is used for analyzing the load residual vibration signal through signal processing so as to obtain the natural frequency and the damping coefficient of the load.
The model establishing and expression obtaining module also comprises a closed loop function establishing unit for establishing a natural frequency w 0 The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
an impulse response unit for introducing an input shaper impulse such that the impulse response of the mechanical system is
The computing unit is used for solving the finite impulse response presented under the action of the input shaper pulse of the mechanical system according to a triangular formula, completely eliminating residual vibration and ensuring that the amplitude value is zero;
adding a gain unit for minimizing shaping time, then let t 1 =0, and adding a gain constraint equation for the mechanical system to reach the original output point:
a pulse acquisition unit for acquiring a pulse according to the amplitude A i And a time lag t i The outputs of each pulse are determined and satisfy the above equation setThe in shaper should contain only two pulses, and the system of equations can be obtained:
the following can be obtained:
wherein the content of the first and second substances,
is the ringing period.
Before the model is established and the closed loop function unit is established, the method also comprises
The frequency domain expression obtaining unit is used for carrying out Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
wherein A is i And t i Respectively the amplitude of the pulse train and the corresponding time lag, n being the value of the input shaperThe number of pulses contained;
the module for obtaining the track error curve further comprises the following steps
The path planning unit is used for carrying out prediction path planning processing on the obtained new shaping signal;
the signal driving unit is used for driving the mechanical system by using a new shaping signal subjected to predicted path planning processing to obtain a track error curve of the servo system under the motion situation;
the compensation shaping module also comprises the following steps
A signal compensation unit for compensating the trajectory error curve for the command signal;
and the new track error curve acquisition unit drives the mechanical system to acquire a new track error curve by using the compensated command signal.
The method for inhibiting the residual vibration is combined with the track error, and the effect of inhibiting the residual vibration by the input shaper is better exerted, so that the residual vibration of the system can be better inhibited, and the running stability, the control precision, the working efficiency, the service life of equipment and the like of the system are further improved.
The compensated input shaping signal is used as a final input signal to drive the system, so that the effect of inhibiting residual vibration by input shaping is enhanced, the residual vibration of a mechanical system is better inhibited, the working efficiency and the positioning accuracy of the system are improved to a great extent, and the service life of equipment is prolonged; the method for suppressing the residual vibration by the input shaper does not need to add other hardware equipment, and saves cost.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An input shaping residual vibration suppression method adapting to a motion system trajectory error is characterized by comprising the following steps:
s1, acquiring a mechanical systemNatural frequency w of the system 0 And a damping coefficient ε;
s2, establishing a mathematical model of a linear programming problem about pulse amplitude parameters of an input shaper and acquiring a pulse amplitude expression of the input shaper;
s3, performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C 1 ；
S4, using C in S3 1 A curve driving system for obtaining an actual motion trajectory curve P under the current motion form 1 And the track error curve C 1 -P 1 Wherein: p 1,2,……n Representing the actual movement curve of each time, C 1,2,……n A command curve representing each time;
s5, using C 1 -P 1 Curve compensation curve C 1 As the next command curve C 2 A drive system for obtaining a track error curve C under the current motion form 1 -P 2 By C 1 -P 2 Compensation C 2 Then as the next command curve C 3 ；
S6, repeating the track error curve C in the step S5 1 -P 1,2,……n Compensation command curve C 1,2,……n As a next command curve, until the value of the trajectory error curve at each time is close to zero.
2. The suppressing method according to claim 1, wherein the step S1 of obtaining the natural frequency and the damping coefficient of the mechanical system comprises the steps of:
s11, driving a load to move along an X axis by a motor and testing a vibration signal of the load by an acceleration sensor;
and S12, analyzing the residual vibration signal of the load through signal processing to obtain the natural frequency and the damping coefficient of the load.
3. The suppressing method according to claim 2, wherein the step S2 further includes the steps of:
s21, for a natural frequency of w 0 The damping coefficient is a single vibration mode of epsilon, and the closed loop transfer function of the mechanical system is established as follows:
s22, introducing an input shaper pulse to enable the impulse response of the mechanical system to be
S23, obtaining a finite impulse response under the action of an input shaper pulse of the mechanical system according to a triangular formula, and completely eliminating residual vibration, wherein the amplitude value must be zero;
s24, making the shaping time shortest, and making t 1 =0, and adds a gain constraint equation for the mechanical system to reach the original output point:
s25, according to the amplitude A i And a time lag t i The input shaper that determines each pulse and satisfies the set of equations in S22 should contain only two pulses, and the system of equations can be derived:
the following can be obtained:
wherein, the first and the second end of the pipe are connected with each other,
is the ringing period.
4. The suppressing method according to claim 3, further comprising, before the step S21, the step of
S20, performing Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
wherein, A i And t i The amplitudes of the pulse train and the corresponding time lags, respectively, n being the number of pulses contained in the input shaper.
5. The suppressing method according to any one of claims 1 to 4, wherein the step S4 further comprises the step of
S41, performing prediction path planning processing on the obtained shaping signal;
and S42, driving a mechanical system by using the new shaping signal subjected to the predicted path planning processing to obtain a track error curve of the servo system under the motion situation.
6. The suppressing method according to claim 5, wherein the step S5 further comprises the step of
S51, compensating and shaping the track error curve to obtain an input signal;
and S52, driving a mechanical system by using the obtained compensated input shaping signal to obtain a track error between the actual motion track in the motion mode and the input track shaped in the S3.
7. Suppression system for input shaped residual vibrations adapted to errors in trajectory of a moving system, characterized in that said suppression system comprises
A frequency coefficient acquisition module for acquiring the natural frequency w of the mechanical system 0 And a damping coefficient ε;
the model establishing and expression obtaining module is used for establishing a mathematical model of a linear programming problem about the pulse amplitude parameter of the input shaper and obtaining an input shaper pulse amplitude expression;
command curve C 1 A module for performing convolution operation on the reference input curve and the input shaper pulse signal to obtain a shaped command curve C 1 ；
Module for obtaining actual motion curve and track error curve for use with command curve C 1 C in the module 1 A curve driving system for obtaining the actual motion track curve P under the current motion form 1 And the track error curve C 1 -P 1 Wherein: p 1,2,……n Representing the actual movement curve of each time, C 1,2,……n A command curve representing each time;
compensation acquisition module for using C 1 -P 1 Curve compensation curve C 1 As the next command curve C 2 A drive system for obtaining a track error curve C under the current motion form 1 -P 2 By C 1 -P 2 Compensation C 2 Then as the next command curve C 3
A elimination module for repeatedly compensating the track error curve C in the acquisition module 1 -P 1,2,……n Compensation command curve C 1,2,……n As a next command curve, until the value of the trajectory error curve at each time is close to zero.
8. The suppression system of claim 7 wherein the frequency coefficient acquisition module to acquire the natural frequency and damping coefficient of the mechanical system comprises
The signal acquisition unit is used for driving the load to move along the X axis by the motor and testing a vibration signal of the load by the acceleration sensor;
and the natural frequency and damping coefficient acquisition unit is used for analyzing the load residual vibration signal through signal processing so as to obtain the natural frequency and the damping coefficient of the load.
9. The suppression system according to claim 8, wherein the model building and expression obtaining module further comprises
Establishing a closed loop function unit for a natural frequency of w 0 The damping coefficient is a single vibration mode of epsilon, and the closed-loop transfer function of the mechanical system is established as follows:
an impulse response unit for introducing an input shaper impulse such that the impulse response of the mechanical system is
The computing unit is used for solving the finite impulse response presented under the action of the input shaper pulse of the mechanical system according to a triangular formula, completely eliminating residual vibration and ensuring that the amplitude value is zero;
adding a gain unit for minimizing the shaping time, and making t 1 =0, and adding a gain constraint equation for the mechanical system to reach the original output point:
a pulse acquisition unit for acquiring a pulse according to the amplitude A i And a time lag t i An input shaper that determines each pulse and satisfies the system of equations in the impulse response unit should contain only two pulsesThe system of equations can be found:
the following can be obtained:
wherein, the first and the second end of the pipe are connected with each other,
is the ringing period.
10. The suppression system of claim 9, wherein said establishing a closed-loop function unit further comprises
The frequency domain expression obtaining unit is used for carrying out Laplace transform on the input shaper pulse to obtain a frequency domain expression of the input shaper:
wherein A is i And t i The amplitudes of the pulse sequences and the corresponding time lags are respectively, and n is the number of pulses contained in the input shaper;
the module for acquiring the actual motion curve and the track error curve also comprises
The path planning unit is used for carrying out prediction path planning processing on the obtained new shaping signal;
the signal driving unit is used for driving the mechanical system by using a new shaping signal subjected to predicted path planning processing to obtain a track error curve of the servo system under the motion situation;
the compensation acquisition module also comprises
A signal compensation unit for compensating the trajectory error curve for the command signal;
a new track error curve acquisition unit for driving the mechanical system to acquire an actual motion track and command curve C under a motion mode by using the compensated shaping input signal 1 And inputting the track error of the track after shaping in the module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910783628.6A CN110632892B (en) | 2019-08-23 | 2019-08-23 | Input shaping residual vibration suppression method and system adapting to motion system track error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910783628.6A CN110632892B (en) | 2019-08-23 | 2019-08-23 | Input shaping residual vibration suppression method and system adapting to motion system track error |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110632892A CN110632892A (en) | 2019-12-31 |
| CN110632892B true CN110632892B (en) | 2022-10-18 |
Family
ID=68970757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910783628.6A Active CN110632892B (en) | 2019-08-23 | 2019-08-23 | Input shaping residual vibration suppression method and system adapting to motion system track error |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110632892B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111367170B (en) * | 2020-02-11 | 2023-08-08 | 固高科技股份有限公司 | Input shaper design method |
| CN111552375B (en) * | 2020-02-19 | 2023-08-04 | 瑞声科技(新加坡)有限公司 | System residual vibration elimination method, device and storage medium |
| CN111338216B (en) * | 2020-04-21 | 2021-06-29 | 华中科技大学 | Input shaper based on mixed pulse excitation and design method |
| CN111506020B (en) * | 2020-04-24 | 2021-10-08 | 东莞固高自动化技术有限公司 | Method and system for suppressing vibration of mechanical motion structure |
| CN112589794A (en) * | 2020-12-02 | 2021-04-02 | 法奥意威(苏州)机器人系统有限公司 | Method for suppressing vibration of robot |
| CN113391547B (en) * | 2021-06-29 | 2022-11-18 | 华南理工大学 | Postposition self-adaptive input shaping method for vibration suppression of multi-axis servo system |
| CN113791578B (en) * | 2021-08-23 | 2023-05-02 | 五邑大学 | Track filtering method and device based on numerical control machining system and electronic equipment |
| CN113858195A (en) * | 2021-09-26 | 2021-12-31 | 深圳大学 | Wear-resistant joint vibration suppression method for adaptive input shaping |
| CN114215357B (en) * | 2021-11-11 | 2022-11-11 | 浙江大学 | Pump truck arm support tail end vibration suppression method based on combination of input shaping and time-lag compensation |
| CN114291159B (en) * | 2022-02-09 | 2023-04-07 | 广州小鹏自动驾驶科技有限公司 | Electric power steering system control method and device based on input shaper |
| CN116107263B (en) * | 2023-04-13 | 2023-07-21 | 苏州艾科瑞思智能装备股份有限公司 | Method and device for eliminating residual vibration of terminal device, industrial personal computer and medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102636993A (en) * | 2012-04-19 | 2012-08-15 | 徐州工程学院 | Method for restraining flexible arm tail end vibration of robot |
| CN103885338B (en) * | 2014-03-21 | 2016-08-17 | 北京工业大学 | A kind of input shaper parameter self-tuning control method based on particle swarm optimization algorithm |
| CN105786037B (en) * | 2016-03-03 | 2018-09-07 | 深圳市雷赛智能控制股份有限公司 | Inhibit the input shaper of mechanical system residual vibration |
| JP2017175890A (en) * | 2016-03-25 | 2017-09-28 | ファナック株式会社 | Motor control apparatus having vibration control function |
| CN107738273B (en) * | 2017-10-16 | 2021-05-14 | 华南理工大学 | Robot joint tail end residual vibration suppression method based on input shaper |
| CN108267959B (en) * | 2018-01-31 | 2021-06-08 | 珞石（北京）科技有限公司 | Method for jointly inhibiting vibration based on iterative learning control and input shaping technology |
| CN110103220B (en) * | 2019-05-20 | 2021-11-26 | 华南理工大学 | High-speed and high-precision robot motion trajectory planning method, device, equipment and medium |
-
2019
- 2019-08-23 CN CN201910783628.6A patent/CN110632892B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110632892A (en) | 2019-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110632892B (en) | Input shaping residual vibration suppression method and system adapting to motion system track error | |
| KR100951754B1 (en) | Machine position control device | |
| JP4802839B2 (en) | Active vibration damping device and control method of active vibration damping device | |
| US10261520B2 (en) | Motor controller and industrial machine | |
| JP4802838B2 (en) | Active vibration damping device and control method of active vibration damping device | |
| JP2017175890A (en) | Motor control apparatus having vibration control function | |
| Arabasi et al. | Simultaneous travel and hoist maneuver input shaping control using frequency modulation | |
| Veciana et al. | Minimizing residual vibrations for non-zero initial states: Application to an emergency stop of a crane | |
| CN108508929B (en) | Vibration control method and system for flexible mechanical structure | |
| Diaz et al. | Concurrent design of multimode input shapers and link dynamics for flexible manipulators | |
| Saito et al. | Vibration suppression of resonant system by using wave compensator | |
| PH12018000005A1 (en) | Motor control apparatus | |
| CN107544247A (en) | A kind of method and system for suppressing mechanical moving structure vibration | |
| Su et al. | Model predictive control of gantry crane with input nonlinearity compensation | |
| Cao et al. | An improved negative zero vibration anti-swing control strategy for grab ship unloader based on elastic wire rope model | |
| KR100975631B1 (en) | Pulse modulating connector and method for real-time modulating motion control pulse | |
| US11719306B2 (en) | Damping device | |
| Ahmad et al. | Robust feed-forward schemes for anti-sway control of rotary crane | |
| Shahruz | Active vibration suppression in multi-degree-of-freedom systems by disturbance observers | |
| KR101244382B1 (en) | Apparatus for controlling a carrier | |
| US20210246962A1 (en) | Damping device | |
| Saito et al. | Vibration control of a two-mass resonant system using wave compensator | |
| CN113031530A (en) | Robot control method, robot control device and robot | |
| KR101371656B1 (en) | Method for generating velocity profile to drive motors for positioning systems, motor driving system using the velocity profile | |
| Saito et al. | Vibration control of flexible system with communication delay using wave compensator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |