【摘要】：現(xiàn)如今導航系統(tǒng)、測試系統(tǒng)等諸多結(jié)構(gòu)對精準度的要求越來越高,但環(huán)境或內(nèi)部的擾動引起結(jié)構(gòu)振動是不可避免的,振動往往會導致結(jié)構(gòu)性能下降甚至結(jié)構(gòu)損壞,為此研究解決實際工程中結(jié)構(gòu)振動問題的方法十分必要。壓電智能結(jié)構(gòu)作為一種新興起的主動結(jié)構(gòu),因其獨特的壓電效應(yīng)、良好的機電耦合性等而被廣泛應(yīng)用到振動控制系統(tǒng)中。壓電智能結(jié)構(gòu)在實際應(yīng)用中受到外部和內(nèi)部多重不確定擾動,故尋求簡單又實時有效的振動主動控制方法成為迫切需要研究的課題之一。本文針對壓電智能結(jié)構(gòu)在復(fù)雜擾動下的振動,著重研究了基于擾動觀測和反饋的復(fù)合振動主動控制算法。首先結(jié)合實際根據(jù)壓電智能結(jié)構(gòu)中傳感器/作動器的數(shù)目配置,將系統(tǒng)分為單輸入單輸出型、多輸入多輸出型、多輸入單輸出型三種情況分別建立狀態(tài)空間方程。然后針對反饋控制的遲緩性和擾動信號難建模等問題,設(shè)計出基于擾動觀測和PID控制的復(fù)合控制算法,不同模型下的振動控制仿真結(jié)果得出:(1)復(fù)合算法在不同模型中都具有一定的適用性,在外部擾動激勵下,復(fù)合控制器對結(jié)構(gòu)振動的抑制效果可以達到70%左右,比單獨的反饋控制器效果要好1.2-2倍;(2)控制算法的性能與結(jié)構(gòu)模型相關(guān),對結(jié)構(gòu)進行多模控制時,復(fù)合控制算法的獨立模態(tài)控制可以避免模態(tài)之間耦合影響,具有一定的優(yōu)良性;(3)系統(tǒng)為單輸入時,采用兩個作動器的控制效果比采用一個作動器的效果要好將近一倍。最后分別考慮系統(tǒng)存在傳感器量測噪聲和時滯量對復(fù)合算法進行了改進,仿真結(jié)果表明:(1)復(fù)合控制器對高頻量測噪聲不具有抑制作用,改進后的控制器可以使高頻段噪聲對系統(tǒng)影響降低40dB以上;(2)在復(fù)合控制算法下,系統(tǒng)時滯易引起響應(yīng)初期幅值增大,且單個振蕩周期的時滯量超過40%時系統(tǒng)易發(fā)散,加入自適應(yīng)Smith預(yù)估器的改進算法能有效補償系統(tǒng)時滯且允許存在預(yù)估偏差。本文所設(shè)計的復(fù)合控制算法及其改進補償結(jié)構(gòu)簡單、適用性強,在較全面考慮了結(jié)構(gòu)模型和結(jié)構(gòu)中可能存在的擾動情況下,仿真結(jié)果都達到了較滿意的效果,對實際的振動主動控制具有一定的指導意義。
[Abstract]:Nowadays, many structures, such as navigation system, test system and so on, require more and more precision, but the vibration caused by the environment or internal disturbance is inevitable. The vibration often leads to the deterioration of the structure performance and even the damage of the structure. Therefore, it is necessary to study the method to solve the structural vibration problem in practical engineering. As a new active structure, piezoelectric intelligent structure is widely used in vibration control system because of its unique piezoelectric effect and good electromechanical coupling. Piezoelectric intelligent structures are subjected to multiple external and internal uncertainties in practical applications. Therefore, it is urgent to seek a simple, real-time and effective active vibration control method. Aiming at the vibration of piezoelectric intelligent structures under complex disturbances, the active control algorithm of composite vibration based on disturbance observation and feedback is studied in this paper. Firstly, according to the number of sensors / actuators in piezoelectric intelligent structure, the system is divided into three types: single input, single output, multiple input and single output. Then, a compound control algorithm based on disturbance observation and PID control is designed to solve the problem of the delay of feedback control and the difficulty of modeling disturbance signal. The simulation results of vibration control under different models show that: (1) the composite algorithm has certain applicability in different models. Under the excitation of external disturbance, the effect of the composite controller on the vibration of the structure can reach about 70%. (2) the performance of the control algorithm is related to the structure model, and the independent modal control of the composite control algorithm can avoid the coupling effect between the modes when the structure is controlled by multiple modes, the performance of the controller is 1.2-2 times better than that of the single feedback controller, and (2) the performance of the control algorithm is related to the structure model. (3) when the system is single input, the control effect of using two actuators is nearly twice as good as that of using one actuator. Finally, the hybrid algorithm is improved by considering the presence of sensor measurement noise and time-delay, respectively. The simulation results show that: (1) the composite controller can not suppress the high-frequency measurement noise. The improved controller can reduce the influence of high frequency noise on the system by more than 40dB. (2) under the compound control algorithm, the initial amplitude of the system is easily increased when the delay of the system is longer than 40, and the system is prone to divergence when the time delay of a single oscillation period exceeds 40. The improved algorithm with adaptive Smith predictor can compensate the delay of the system effectively and allow for the existence of prediction deviation. The compound control algorithm designed in this paper and its improved compensation have simple structure and strong applicability. The simulation results are satisfactory when the structure model and the possible disturbances in the structure are considered comprehensively. It has certain guiding significance for active vibration control.
【學位授予單位】：中北大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273;TN384

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