有限冲击最优时滞滤波器抑制柔性系统残留振荡的研究

针对时滞滤波器在抑制柔性系统残留振荡的同时刚体产生冲击这一问题，提出了一种有限冲击最优时滞滤波器．通过确定最大冲击值，对指令信号的时间变化率加以限制来设计有限冲击控制指令，然后令柔性模态振荡能量最小，计算滤波器的最优时滞．研究结果表明，该滤波器形成的控制信号是一系列的斜坡信号，对时间的变化率不超过允许的最大冲击值，从而降低了未建模动态激励．该滤波器的特点是在抑制柔性系统残留振荡的同时，不仅减小了刚体运动冲击，而且又使系统的响应速度提高了30％．

Optimal Limited-Jerk Time-Delayed Filter for Restraining Residual Vibration of Flexible Systems

The fact that time-delayed filters used for suppressing residual oscillation of flexible systems are accompanied by a rigid impact motivates to propose an optimal limited-jerk time-delayed filter based on limited-jerk theory and optimization theory. The limited-jerk control commands are designed by fixing on a jerk maximum to limit the varying ratio of the reference orders, then the optimal time delays are solved by minimizing the oscillation energy of flexible modes. It is revealed that the control commands from the filter are composed of a sequence of ramp signals, whose time-ratio of variation never exceeds the permissible value to restrain the excitation to unmodeled harmonic modes. Compared with typical ones, the filter enables to suppress the residual oscillation of flexible systems, weaken the rigid motion impact simultaneously and accelerate the system response by 30%.