基于多模态控制的混合输入整形控制策略减小机器人振动（英文）
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摘要
典型的多模态输入整形器(MMIS)可有效同时减小机器人或机械手多个模态的残余振动。但各模态的频带宽度相差较大时,MMIS就不能在快速响应下消除更多的残余振动。本文介绍了多种典型的和混合控制的正脉冲多模态输入整形控制策略及其构建原理。建立了六种3自由度机器人的正脉冲两模态混合输入整形器。利用数值仿真绘制振动响应曲线和灵敏度曲线,评估这六种输入整形器抑制残余振动的能力及鲁棒性。零振动-零振动与零导数(ZV-ZVD)的响应时间最快,但鲁棒性最低。零振动与零导数-极不灵敏(ZVD-EI)的鲁棒性最好,而响应时间最长。根据每个模态的频带宽度和所需的系统响应时间,可选择最适合的多模态混合输入整形器(MMHIS),从而实现在减小更多残余振动的条件下加快系统响应时间。
The classic multi-mode input shapers(MMISs) are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously. But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different. The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper. Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established. The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation. The response time of the zero vibration-zero vibration and derivative(ZV-ZVD) input shaper is the fastest, but the robustness is the least. The robustness of the zero vibration and derivative-extra insensitive(ZVD-EI) input shaper is the best, while the response time is the longest. According to the frequency bandwidth at each mode and required system response time, the most appropriate multi-mode hybrid input shaper(MMHIS) can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.
The classic multi-mode input shapers(MMISs) are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously. But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different. The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper. Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established. The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation. The response time of the zero vibration-zero vibration and derivative(ZV-ZVD) input shaper is the fastest, but the robustness is the least. The robustness of the zero vibration and derivative-extra insensitive(ZVD-EI) input shaper is the best, while the response time is the longest. According to the frequency bandwidth at each mode and required system response time, the most appropriate multi-mode hybrid input shaper(MMHIS) can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.
引文
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[21]JIA Peng-xiao,LI En,LIANG Zi-ze,QIANG Yan-hui.Adaptive PD control combined with input-shaping for suppressing vibration of a single-mode flexible mechanism[J].Journal of Vibration and Shock,2013,32(17):189-193.DOI:10.3969/j.issn.1000-3835.2013.17.036.(in Chinese)
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[25]WANG Yue-zhan,YAN Qi-bo,LI Bing,WEI Yu-lan.Sensitivity analysis of vibration suppression based on the multiple-mode negative impulses input shapers[C]//Proceedings of 2012 International Conference on Mechatronics and Materials Engineering.Hangzhou,China,2012:312-316.DOI:10.4028/www.scientific.net/AMM.189.312.
[26]LI Bing,WEI Yu-lan,ZHU Shou-xin,ZHENG Yu-qing.Hybrid multi-mode input shaping suppresses the vibration of a 3-DOF parallel manipulator[C]//Proceedings of 2011International Conference on Advanced Engineering Materials and Technology.Sanya,China,2011:2115-2118.DOI:10.4028/www.scientific.net/AMR.291-294.2115.
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[28]ZHANG Xu-ping.Dynamic modeling and active vibration control of a planar 3-PRR parallel manipulator with three flexible links[D].Toronto:University of Toronto,2009.http://hdl.handle.net/1807/19119.
[2]CHU Zhong-yi,CUI Jing,SUN Fu-chun.Vibration control of a high-speed manipulator using input shaper and positive position feedback[J].Knowledge Engineering and Management,2013,214:599-609.DOI:10.1007/978-3-642-37832-4_54.
[3]MOHAMED Z,CHEE A K,HASHIM A W I M,TOKHI MO,AMIN S H M,MAMAT R.Techniques for vibration control of a flexible robot manipulator[J].Robotica,2006,24(4):499-511.DOI:10.1016/S0957-4158(03)00013-8.
[4]KAPUCU S,YILDIRIM N,YAVUZ H,BAYSEC S.Suppression of residual vibration of a translating-swinging load by a flexible manipulator[J].Mechatronics,2008,18(3):121-128.DOI:10.1016/j.mechatronics.2007.10.007.
[5]LAWN M,DI MAURO G,BEVILACQUA R.Guidance solutions for spacecraft planar rephasing and rendezvous using input shaping[J].Journal of Guidance,Control,and Dynamics,2018,41(1):255-267.DOI:10.2514/1.G002910.
[6]ALQADO T E,NIKOLAKOPOULOS G,DRITSAS L.Semi-active control of flexible structures using closed-loop input shaping techniques[J].Structure Control and Health Monitoring,2017,24(5):e1913.DOI:10.1002/stc.1913.
[7]HILLSLEY K L,YURKOVICH S.Vibration control of a two-link flexible robot arm[J].Dynamics and Control,1993,3(3):261-280.DOI:10.1007/BF01972699.
[8]ARABASI S,MASOUD Z.Simultaneous travel and hoist maneuver input shaping control using frequency modulation[J].Shock and Vibration,2017,1:1-12.DOI:10.1155/2017/5703820.
[9]KANG C G,KWAK J H.On a simplified residual-vibrationratio function for input shaping control[J].Asian Journal of Control,2012,16(1):277-283.DOI:10.1002/asjc.573.
[10]MA K,GHASEMI-NEJHAD M N.Adaptive input shaping and control for simultaneous precision positioning and vibration suppression of smart composite plates[J].Smart Materials and Structures,2007,16(5):1870-1879.DOI:10.1088/0964-1726/16/5/043.
[11]PAI M C.Closed-loop input shaping control of vibration in flexible structures via adaptive sliding mode control[J].Shock and Vibration,2012,19(2):221-233.DOI:10.3233/SAV-2011-0625.
[12]SINGER N C,WARREN P S.Preshaping command inputs to reduce system vibration[J].ASME Journal of Dynamic System,1990,112(2):76-82.DOI:10.1115/1.2894142.
[13]HUEY J R,SORENSEN K L,SINGHOSE W E.Useful applications of closed-loop signal shaping controllers[J].Control Engineering Practice,2008,16(7):836-846.DOI:10.1016/j.conengprac.2007.09.004.
[14]LI Bing,ZHANG Xu-ping,MILLS J K,CLEGHORN W L,XIE Li-yang.Vibration suppression of a 3-PRR flexible parallel manipulator using input shaping[C]//Proceedings of2009 International Conference on Mechatronics and Automation.Changchun,China,2009:3539-3544.DOI:10.1109/ICMA.2009.5246204.
[15]MAGHSOUDI M J,MOHAMED Z,SUNDIN S,BUYAMIN S,JAAFAR H I,AHMAD S M.An improved input shaping design for an efficient sway control of a nonlinear 3D overhead crane with friction[J].Mechanical System and Signal Processing,2017,92:364-378.DOI:10.1016/j.ymssp.2017.01.036.
[16]MAR R,GOYAL A,NGUYEN V,YANG T L,SINGHOSEW.Combined input shaping and feedback control for double-pendulum systems[J].Mechanical Systems and Signal Processing,2017,85:267-277.DOI:10.1016/j.ymssp.2016.08.012.
[17]KOZAK K,EBERT-UPHOFF I,SINGHOSE W.Locally linearized dynamic analysis of parallel manipulators and application of input shaping to reduce vibrations[J].Journal of Mechanical Design,2004,126(1):156-168.DOI:10.1115/1.1640362.
[18]STERGIOPOULOS J,TZES A.Adaptive input shaping for nonlinear systems:A case study[J].Journal of Dynamic System,Measurement,and Control,2007,129(2):219-223.DOI:10.1115/1.2431815.
[19]KRONEIS J,LIU S.Flexible body modelling and vibration damping for a planar parallel robot using input shaping[C]//Proceedings of 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Zurich,Switzerland,2007:1-6.DOI:10.1109/AIM.2007.4412572.
[20]MASOUD Z,ALHAZZA K.Frequency-modulation input shaping for multimode systems[J].Journal of Vibration and Control,2016,22(15):3439-3451.DOI:10.1177/1077546314560389.
[21]JIA Peng-xiao,LI En,LIANG Zi-ze,QIANG Yan-hui.Adaptive PD control combined with input-shaping for suppressing vibration of a single-mode flexible mechanism[J].Journal of Vibration and Shock,2013,32(17):189-193.DOI:10.3969/j.issn.1000-3835.2013.17.036.(in Chinese)
[22]PAI M C.Robust input shaping control for multi-mode flexible structures using neuro-sliding mode output feedback control[J].Journal of Franklin Institute,2012,349(3):1283-1303.DOI:10.1016/j.jfranklin.2012.01.012.
[23]LI Bing,XIE Li-yang,WEI Yu-lan,ZHAO Jin-fang,WANGLei.Residual vibration suppression of 3-PRR parallel manipulator by multiple-mode input shaping[J].Machinery,2010,48(7):21-25.DOI:10.3969/j.issn.1000-4998.2010.07.008.(in Chinese)
[24]HUANG Qing,ZHANG Dan,LI Bing,WEI Yu-lan.Vibration suppression of manipulator with multiple-mode negative impulses input shaping[C]//Proceedings of 2012International Symposium on Chemical Engineering and Material Properties.Taiyuan,China,2012:816-820.DOI:10.4028/www.scientific.net/AMR.549.816.
[25]WANG Yue-zhan,YAN Qi-bo,LI Bing,WEI Yu-lan.Sensitivity analysis of vibration suppression based on the multiple-mode negative impulses input shapers[C]//Proceedings of 2012 International Conference on Mechatronics and Materials Engineering.Hangzhou,China,2012:312-316.DOI:10.4028/www.scientific.net/AMM.189.312.
[26]LI Bing,WEI Yu-lan,ZHU Shou-xin,ZHENG Yu-qing.Hybrid multi-mode input shaping suppresses the vibration of a 3-DOF parallel manipulator[C]//Proceedings of 2011International Conference on Advanced Engineering Materials and Technology.Sanya,China,2011:2115-2118.DOI:10.4028/www.scientific.net/AMR.291-294.2115.
[27]ZHANG Xu-ping,MILLS J K,CLEGHORN W L.Dynamic modelling and experimental validation of a 3-PRR parallel manipulator with flexible intermediate links[J].Journal of Intelligent and Robotic System,2007,50(4):323-340.DOI:10.1007/s10846-007-9167-4.
[28]ZHANG Xu-ping.Dynamic modeling and active vibration control of a planar 3-PRR parallel manipulator with three flexible links[D].Toronto:University of Toronto,2009.http://hdl.handle.net/1807/19119.