用简单运动轨迹抑制工业机械残余振动

Yuta Honda, N. Uchiyama, S. Sano, A. Kato, T. Yonezawa
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引用次数: 0

摘要

许多工业机器沿着简单的运动轨迹运行,如梯形或s曲线加速/减速轨迹。本文提出了一种抑制此类机械残余振动的运动轨迹生成方法。首先,我们考虑了广泛应用于工业工厂的门式起重机的残余振动问题。起重机系统的动力学可以用一组简单的微分方程来表示。假设工业控制器只能应用简单的运动轨迹,我们提出了一种运动轨迹生成方法,该方法抑制了残余振动,从而增加了生产节拍时间。仿真和实验结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Residual vibration suppression for industrial machines using simple motion trajectory
Many industrial machines are operated along a simple motion trajectory such as a trapezoidal or S-curve acceleration/deceleration trajectory. This paper presents a motion trajectory generation method that suppresses the residual vibrations of such machines. First, we consider a residual vibration problem for a gantry-type crane that is widely used in industrial factories. The dynamics of the crane system is represented by a simple set of differential equations. Assuming that only a simple motion trajectory can be applied to an industrial controller, we propose a motion trajectory generation method that suppresses the residual vibration, which increases the production takt time. Simulation and experimental results demonstrate the effectiveness of the proposed method.
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