通过建立系统的数学模型，求出了动态特性方程，计算出这三种输入整形器脉冲序列的幅值和时间。
To derive mathematical model, dynamic characteristic equations are obtained and the pulse amplitude and time of input shaper was calculated.
提出一种闭环输入整形控制方案，它结合了具有振动阻尼器的输入整形器，用于抑制残留的多模式的灵活的系统振荡。
A closed-loop input shaping control scheme, which combines an input shaper with a vibration damper, is proposed for suppressing the residual oscillations of the multi-mode flexible systems.
在硬件抗干扰方面，本课题采用光电隔离的方法成功的对输入光电编码器的信号进行了整形，并隔离了输出负载对电路的影响。
In hardware aspect, this paper use optical-electric insulation method stronger the signal of optical-electric encoder and insulate the infection of out load for main circuit successfully.
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