摘要
基于残留振荡能量最小的优化思想,在系统参数变化范围内设计鲁棒时滞滤波器。滤波器在柔性系统极点附近配置三重零点,使其对系统参数误差不敏感,具有很强的鲁棒性。将这一控制技术用于起重机的消摆控制系统中,可以有效抑制载荷的残留摆动。
Based on the optimization idea to minimize the maximum value of residual vibration energy over the entire range of parameter variation, a robust time--delayed filter was designed. Three pair zeroes of the filter were set near the location of a pair poles of the system, thus the filter is robust to the errors of system parameters. The control technique is applied in anti swing control systems of cranes to suppress efficiently the residual oscillations of the payload.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第8期771-773,共3页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50435020)
山东省教育厅重点资助项目(J04D09)
关键词
滤波器
振荡
优化
灵敏度
鲁棒性
filter
vibration
optimization
sensitivity
robustness
