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中文摘要：
针对柔性结构的主动振动控制问题，提出了一种改进型负输人成形方法。该方法设计成形器的脉冲序列包含多个正负依次交替的脉冲，通过所选择的脉冲数目和系统振动频率与阻尼比构成封闭形式解来直接确定成形器。与正输入成形方法相比可以改善系统的上升时间，而与传统的负输入成形方法相比不需要对时间约束条件进行优化。改进型负输入成形器所包含的脉冲个数可以自由选择，具有设计简单、灵活的优点。将其通过柔性机械臂进行仿真验证，结果表明：所提出的方法有效且可以快速实现振动抑制。
英文摘要：
A new modified negative input shaping （MNIS） method is presented for active vibration control of flexible structure. The presented approach is allowed to design a modified negative input shaper by using some negative impulses and positive impulses alternately in the sequence of impulses. The modified negative input shaper is described by closed- form function of the number of selected impulses and the system＇ s natural frequency and damping ratio. The rise time can be improved by comparing positive input shaper. The MNIS method needn ＇ t numerical optimization subject to time constraints and the number of selecting impulses is free. The most significant advantage of the proposed modified negative input shapers is ease and flexibility of design. It is designed for a rotating flexible manipulator. The flexible manipulator can accomplish vibration suppression quickly by using the approach. Simulation results demonstrate the effectiveness of the proposed method.
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