Active vibration control approaches have been widely applied on improving reliability of robotic systems. For linear vibratory systems, the vibration features can be altered by modifying poles and zeros. To realize the arbitrary assignment of the closed-loop system poles and zeros of a linear vibratory system, in this paper, an active PID input feedback vibration control method is proposed based on the receptance method. The establishment and verification of the proposed method are demonstrated. The assignable poles during feedback control are calculated and attached with importance to expand the application of the integral control. Numerical simulations are conducted to verify the validity of the proposed method in terms of the assignment of closed-loop poles, zeros, and both. The results indicate that the proposed method can be used to realize the active vibration control of closed-loop system and obtain the desired damping ratio, modal frequency, and dynamic response.

中文翻译：

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基于接受度法的PID主动振动控制

主动振动控制方法已被广泛应用于提高机器人系统的可靠性。对于线性振动系统，可以通过修改极点和零点来更改振动特征。为了实现线性振动系统闭环系统极点和零点的任意分配，在此基础上，提出了一种基于接受度的主动PID输入反馈振动控制方法。演示了该方法的建立和验证。计算并控制反馈控制期间的可分配极点，并对其进行重视，以扩大积分控制的应用范围。进行了数值模拟，以验证所提出方法在闭环极点，零点和两者的分配方面的有效性。