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Fast and Robust Control of Systems With Multiple Flexible Modes

机译：具有多种灵活模式的系统的快速和鲁棒控制

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摘要

This paper derives shaped time-optimal servomech-anism (STOS) closed-loop control laws using a phase-plane approach to address flexible structures having multiple flexible modes. The STOS control laws for systems having two and three flexible modes are detailed. The flexible modes are addressed by using multimode input shapers to shape the time-optimal control for the rigid body portion of the system. The altered rigid body phase-plane trajectories resulting from this shaping are solved and used to determine an STOS closed-loop controller. Both "convolution" and "simultaneous" method multimode input shapers are considered. We also improve the robustness to modeling errors of the STOS control. The more robust zero vibration and derivative (ZVD) shaper is used. The ZVD shaper consists of more impulses and has a longer time duration than the simpler zero vibration (ZV) shaper which leads to the more robust STOS (RSTOS) control derived from the ZVD shaper having more switches and longer time response than the STOS control derived from the ZV shaper. Simulation results show that using the ZVD shaper in deriving the RSTOS control improves the robustness to modeling errors in frequency and damping of the flexible mode.
机译：本文使用相平面方法来解决具有多种柔性模式的柔性结构，从而得出成形的时间最优伺服机械控制（STOS）闭环控制律。详细介绍了具有两种和三种灵活模式的系统的STOS控制律。通过使用多模式输入整形器来对系统的刚体部分进行时间最优控制，可以解决这些灵活模式。解决了由这种成形导致的刚体相平面轨迹的变化，并将其用于确定STOS闭环控制器。同时考虑了“卷积”和“同时”方法的多模输入整形器。我们还提高了STOS控件建模错误的鲁棒性。使用更强大的零振动和微分（ZVD）整形器。与更简单的零振动（ZV）整形器相比，ZVD整形器包含更多的脉冲，并且具有更长的持续时间，这导致从ZVD整形器派生的STOS（RSTOS）控制更稳健，与推导的STOS控件相比，其具有更多的开关和更长的时间响应来自ZV成型器。仿真结果表明，在推导RSTOS控制中使用ZVD整形器可提高对柔性模式的频率和阻尼误差建模的鲁棒性。

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