Motion Control Agrithem Based On The Input-Shaper

The input shaping technology is used to suppress the residual vibration. It is widely used in the high-precision control system. Sliding mode control is one of important methods of nonlinear theory, and it has special robustness. In the thesis, the input shaper combined with sliding mode controller is used to suppress the residual vibration. The position error caused by external interference is decreased and the object position can be reached as quickly as possible. The contents are given as follows.First, the mathematica model is analyzed and setup. The controlling agrithms is designed. The simulation experiments are carried out. Secondly, the basic concept of the input shaper is introduced. The pole-zero cancellation method, pulse method, the sensitivity curve analysis method and other input shaper design method are studied and compared. The input shaping designed method is decided and applied to the vibration.Thirdly, the sliding mode control method is given, the sliding mode controller combining with the input shaper are designed and realized. The simulation experiments are carried out. The results show the etfiveness of the controller.Finally, the hardware based on the FPGA and SOPC technologies are realized. The software is given. The tests on the X-Y platform are also provided. The experiments results show the vibration and the friction can be suppressed successfully.