結合增廣型卡爾曼濾波器與輸入命令整形技術應用於抑振控制之研究

The Study of Vibration Suppression Control Using Input Shaping Technique with Extended Kalman Filter

李彥霖(Yen-Lin Lee)

指導教授 ： 黃宜正

國立彰化師範大學/工學院/機電工程學系/碩士(2018年)

摘要

隨著科技的發展，對於工具機有著高速化、高精度化的需求，因此產生高加減速度和急衝(加速度的微分)的問題。若有較大慣性量的負載效應因素下，也會誘發機台結構縮短頻寬範圍，控制器卻需要處理不同激振命令所衍生的模態振型問題。本文利用增廣型卡爾曼濾波器與系統遞減輸出訊號，設計輸入整型命令，先使用MATLAB®軟體進行抑振控制之模擬，再利用單軸線性馬達進行實驗測試。整型命令為一抑制振動之技術，利用改變命令使振動相抵消；而增廣型卡爾曼濾波器用於估計系統輸出訊號之頻率及阻尼，以提供動態系統之命令整型之訊息。本文成功建立一抑振方法，可應用於工具機或是直線運動載具，當其需要處理不同阻尼和自然頻率之振動抑制的控制方法，再比較模擬結果，發現使用零振動微分導數之整型命令的表現較為優異。

關鍵字

增廣型卡爾曼濾波器 ； 整型命令 ； 振動抑制 ； 零振動

並列摘要

The development of machine tools toward high speed and high precision poses a challenge to the designers on the vibration control of mechanical system. This thesis presents a method to suppress vibration by using input shaping functions along with extended Kalman filter. Input shaping is a technique which deploys one or several designed impulses to cancel out the vibration response of a mechanical system. To determine the parameters of input shaper, we assume the vibration of the mechanical system is a simple decaying sinusoidal signal and use extended Kalman filter to estimate its parameters. Simulation results show that all three different input shaping functions with parameters estimated by extended Kalman filter can suppress the vibration successfully. A single axis linear motor is used for experimental test. Among the input shaping functions investigated, one with more impulses demonstrates better reduction in maximum vibration amplitude while the ZV(Zero-Vibration) one shows the shortest settling time. In terms of damping ratio, the ZVDD (Zero-Vibration-Derivative-Derivative) input shaping function provides the maximum damping effect.

並列關鍵字

Extended Kalman Filter ； Input Shaping ； Vibration Suppression ； Zero Vibration

參考文獻

參考資料

[1]R. W. Longman, M. S. Chew, and M. Q. Phan, “Precision Motion Control: Intelligent Mechanisms, Morphing Mechanisms” Dec 13-15, International Conference on Intelligent Technologies and Engineering System, 2012.

[2]Meng-Shiun Tsai, Chung-Liang Yen, and Hong-Tzong Yau, "Integration of an Empirical mode Decomposition Algorithm With Iterative Learning Control for High-Precision Machining," IEEE/ASME Transactions on Mechatronics, Vol. 18, No.3, June 2013.

[3]Tzyy-Chyang Lu and Shyh-Leh Chen, “Contouring control of 5-DOF Manipulator Robot Arm Based on Equivalent Errors,” 2015 CACS International Automatic Control Conference, Nov. 18-20, 2015.

[4]Singer N. C. and Seering W.P., “Preshaping Command Inputs to Reduce System Vibration,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 112, pp. 76-82, 1990.