消除系統殘餘振動之研究

Residual Vibration Control in a Continuous System

郭中豐(J. Kuo)

《中華民國振動與噪音工程學會論文集》 1994 (1994/06) Pp. 129-133

https://doi.org/10.30028/CSSVANNUAL.199406.0129

摘要

在工業方面的應用領域，為應操作速度較快，準確度較高等效率之需求，對系統所造成之振動的考慮就愈益顯其重要性。本文即是針對此種需求，利用修飾閉環路系統之輸入指今，結合結構動力學與控制學上的理論所設計之控制器，來消除系統之殘餘振動，文中並以一連續式系統模式之機器手臂相互印證；結果顯示，本文所提之方法，對於機器手臂爪抓超越目標點之殘餘振動可有效的抑止，手臂之彈性變形減少，亦節省了馬達的轉矩。

並列摘要

Residual vibration is a common phenomenon observed in the operation of many machines. It arises from the inertia effect of machine parts in motion. In order to minimize settling time, it is necessary to eliminate the residual end point vibration as soon as possible. Therefore the control of residual vibration is important, especially for the use of high operation speed machinary is becoming more popular in manufacturing. This paper use the modified reference input command for closed-loop control to achieve desired purpose and the method is tested on one case study. It has shown that the modified input command not only reduce the command torque, tip elastic deformation, overshoot of the closed-loop system, but also provide the system with better tracking property.