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首页> 外文会议>2011 16th International Conference on Methods and Models in Automation and Robotics >Investigation in online-methods estimating the oscillating frequency to improve control adaptively
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Investigation in online-methods estimating the oscillating frequency to improve control adaptively

机译：研究在线方法估算振荡频率以自适应地改善控制

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摘要

The automation industry seeks for positioning systems with high dynamics and precision. In robotics or other light-weight applications where mechatronic drives are used, the end-effector often undesirably oscillates due to a relatively low system damping. Knowing the frequency of the damped oscillation would allow, e.g. “posicast”- or “input shaping”-control methods. Thus, suppression or even elimination of such an oscillation can be achieved. When the frequency changes due to e.g. variable loads or gravitational issues, the control settings should be changed as well. Then dynamics/precision can be held among non oscillation. Having a method which adapts e.g. a shaper to the actual frequency would allow a better suppression of such an oscillation. During run time, several sensor data of a mechatronic system contains this frequency more or less incisive. Several methods which may estimate online (during run time) this frequency in “transient”- as well as “semi-steady”-state were discussed in the following.
机译：自动化行业正在寻求具有高动态性和精度的定位系统。在使用机电驱动器的机器人技术或其他轻量级应用中，由于相对较低的系统阻尼，末端执行器通常会产生不希望的振荡。知道阻尼振荡的频率将允许例如“ posicast”（或“输入整形”）控制方法。因此，可以实现抑制或什至消除这种振荡。当频率因以下原因而变化时可变负载或重力问题，控制设置也应更改。然后，可以保持动态/精确度为非振荡状态。具有适应例如将整形器调整为实际频率将可以更好地抑制这种振荡。在运行期间，机电系统的多个传感器数据或多或少地包含此频率。下面讨论了几种可以在线（在运行时）估算“瞬态”和“半稳定”状态下的频率的方法。

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