基于状态微分反馈的振动主动控制研究

发布时间：2018-03-25 21:01

本文选题：振动主动控制　切入点：正弦扰动　出处：《中国科学技术大学》2014年硕士论文

【摘要】：被动减振可以有效降低目标对象的高频段振动水平,但是其低频段减振效果不佳。主动控制弥补了被动减振的缺点,其对低频段的扰动有很好的抑制能力。从扰动抑制的角度来讲,主动减振控制问题也属于扰动抑制的范畴,利用扰动抑制理论设计振动主动控制控制律应行之有效。现有的很多反馈控制方法都是采用状态的估计值,这无疑增加了闭环系统的阶次。振动系统中常采用加速度响应来评价振动水平,因为加速度信号可直接测量。而加速度信号是系统状态的微分,可直接用于反馈而无需设计观测器。振动系统受到的常见扰动可以抽象为正弦信号或者多个正弦信号的叠加,这些扰动如果不加以抑制将影响振动系统性能,甚至对系统造成破坏。针对振动系统的上述两个特点,本文主要研究正弦扰动的估计与补偿方法和振动系统的状态微分反馈方法,并在磁悬浮隔振系统这一典型的振动系统中仿真验证了上述方法的有效性。首先给出了一类可化为幂级数形式的扰动的非线性观测器设计算法,通过选择非线性加权函数,提高了扰动观测的速度和精度。利用扰动的观测值,设计了带有扰动补偿项的状态微分反馈控制器,并在磁悬浮隔振系统仿真实验平台上验证了所提观测器和控制器的有效性和优越性。对于扰动频率和幅值未知的正弦扰动,经过合理假设,利用可以直接测量的系统加速度信号,首先得到了基于状态微分的自适应渐近扰动观测器,进一步给出了带有扰动补偿的状态微分反馈控制器的设计算法,并在磁悬浮隔振系统仿真实验平台上验证了所提观测器和控制器的有效性。现有的状态微分反馈控制策略,都是连续系统情况。所谓离散系统或者离散化系统,大多针对连续系统设计状态微分反馈控制律后再离散化,而利用加速度离散信号直接实现反馈控制还未见报道。本文给出了离散框架下振动系统的状态差分反馈极点配置算法,弥补了离散系统或离散化系统的状态微分反馈的理论空缺。给出了能控标准型系统的状态差分反馈极点配置的算法,再通过线性变换,给出了一般线性离散系统的状态差分反馈极点配置算法,并在磁悬浮隔振系统仿真实验平台上验证了所提算法的有效性。
[Abstract]:Passive vibration reduction can effectively reduce the vibration level of the target in high frequency band, but the effect of passive vibration reduction in low frequency band is not good. Active control makes up for the shortcomings of passive vibration reduction. From the point of view of disturbance suppression, the problem of active vibration control also belongs to the category of disturbance suppression. It should be effective to design active vibration control law by using disturbance suppression theory. Many existing feedback control methods are based on state estimation. This undoubtedly increases the order of the closed-loop system, in which the acceleration response is often used to evaluate the vibration level because the acceleration signal can be measured directly, and the acceleration signal is a differential of the state of the system. Can be used directly for feedback without designing an observer. Common disturbances to vibration systems can be abstracted as a combination of sinusoidal signals or multiple sinusoidal signals, which, if not suppressed, will affect the performance of the vibration system. Even damage to the system. In view of the above two characteristics of vibration system, this paper mainly studies the estimation and compensation method of sinusoidal disturbance and the state differential feedback method of vibration system. The effectiveness of the above method is verified by simulation in the typical vibration system of maglev vibration isolation system. In this paper, a class of nonlinear observer design algorithm is presented, which can be transformed into a power series form. By selecting a nonlinear weighting function, the speed and accuracy of the disturbance observation are improved. The state differential feedback controller with disturbance compensation term is designed, and the effectiveness and superiority of the proposed observer and controller are verified on the simulation platform of the maglev vibration isolation system. For sinusoidal disturbances with unknown disturbance frequency and amplitude, an adaptive asymptotic perturbation observer based on state differential is first obtained by using the system acceleration signal which can be measured directly. Furthermore, the design algorithm of the state differential feedback controller with disturbance compensation is presented, and the effectiveness of the proposed observer and controller is verified on the simulation platform of the maglev vibration isolation system. The current state differential feedback control strategies are all continuous systems. Most of the discrete systems or discrete systems are discretized after designing the state differential feedback control law for continuous systems. However, the direct realization of feedback control by discrete acceleration signals has not been reported. In this paper, a state differential feedback pole assignment algorithm for vibration system under discrete frame is presented. The theory of state differential feedback for discrete systems or discrete systems is made up. An algorithm of state differential feedback pole assignment for controllable standard systems is presented, and then linear transformation is used. A state differential feedback pole assignment algorithm for general linear discrete systems is presented, and the effectiveness of the proposed algorithm is verified on the simulation platform of maglev vibration isolation system.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB535

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