摘要柔性系统是一类应用广泛的系统，从超小型系统到大型工业塔吊系统，均会受到柔性体残留振动的影响。数字滤波和输入成形是常用的两种减小柔性系统余振的前馈控制技术，通过把参考输入信号经过数字滤波器或输入成形器的处理，得到控制输入信号，再将该输入信号作用于被控对象，达到消除余振的目的。63515

本文结合挠性航天器的应用背景，以二阶柔性系统为被控对象，分别从以下两方面进行了设计。

1)基于单模态、多模态输入成形器的设计理论，研究了EI（Extra- insensitive）、双峰EI的设计方法。

2)基于IIR (Infinite Impulse Response)数字滤波器的设计理论，研究了切比雪夫滤波器的设计方法。

对比研究了它们的抑振性能和鲁棒性。最后结合实际系统不确定性的问题，分别研究了基于单模态的时域辨识和基于多模态的频谱分析辨识，并提出了基于频谱分析的自适应切比雪夫数字滤波器的设计方法。

毕业论文关键词  输入成形、数字滤波、灵敏度、鲁棒、多模态系统、辨识、自适应

毕业设计说明书（论文）外文摘要

Title  Comparisons of input shaping and digital filting for Reducing Residual Vibration.               

Abstract The flexible system is a widely used system, which is effected by the residual vibration of flexible bodies, ranging from nanopositioning devices to large industrial cranes. Digital filting and input shaping are two kinds of feedforward control technologies to reducing unwanted transient deflection. These two methods work by creating a command signal that cancels its own vibration and acting the signal on the controlled object.

Combining with the application background of flexible spacecrafts, this thesis

summarized the design methods from the following two aspects. 

1) Study the design methods of EI（Extra- insensitive）shaper and Two-hump EI shaper based on the thesis of single-mode and multi-mode input shapers.

2) Study the design methods of  Chebyshev filters based on the thesis of 

IIR (Infinite Impulse Response) digital filters.

Furthermore, their control performance of reducing the residual vibration of flexible bodies was compared with and the robust of input shapers and filters were studied. Finally, in consideration of the uncertainty of actual system, analysis of mechanism identification from time domain and frequency domain was made.And a design method of self-adapting Chebyshev filter was put forward based on spectrum analysis.

Keywords  Input Shaping, Digital Filting, Sensitivity, Robust, Multi-mode system, Identification， Self-adaption

1  绪论 1

1．1  柔性系统及其残留振动 1

1．2  抑制柔性系统残留振动的方法 2

1.2.1  输入成形器基本理论 2

1.2.2  数字滤波器基本理论 3

1．3  本文主要内容 5

2  输入成形器和数字滤波器的设计方法 6

2．1  输入成形器的设计方法 6

2.1.1  单模态输入成形器 6

2.1.2  多模态输入成形器 6

2.1.3  基于单模态的EI输入成形器设计 7

2. 2  数字滤波器的设计方法