85 Research on Residual Vibration Suppression of Trajectory Glue Based on Adaptive Pulse Reshape Filter

When the pulse reshape filter with fixed parameter is applied to the auto-glue toe lasting machine to suppress the residual vibration, the suppression result is easily influenced by the characteristic of nonlinear time-varying such as parameter variation and load disturbance of machine. This paper analyzes the principle of pulse shaping filter, establishes performance evaluation function based on the error for two pulse reshape filters, uses iterative learning method to realize optimal parameter identification of pulse reshape filter, and updates the filter parameter to ensure optimal performance function throughout. Experiment shows this method has strong robustness against parameter variation of dominant pole of the auto-glue toe lasting machine, suppress the residual vibration and improve the response speed of the system effectively.