基于MRE的精密平台隔减振控制系统的研究

发布时间：2018-05-07 01:20

本文选题：精密平台 + 磁流变弹性体隔减振装置　；参考：《南京林业大学》2016年硕士论文

【摘要】：磁流变弹性体是磁流变材料的一个新的分支,其典型特征就是模量和阻尼等性能可由外加磁场来控制,且响应速度很快、可控性好,常被应用在很多领域的减振控制中。目前,由于精密仪器设备对外界环境需求越来越高,而现有的隔减振控制效果又不明显,对低频的干扰隔离效果很差。所以本文结合国内外对磁流变弹性体的研究,采用本课题组研究并制作的磁流变弹性体装置对承载精密仪器的工作平台进行减振控制,以期解决被控平台的减振效果问题。本课题以解决磁流变弹性体隔减振装置的控制电流智能选取的问题以及智能控制器的研制为目的,主要完成了以下工作:(1)简要概述了磁流变弹性体隔减振装置及其相应控制器的国内外研究现状,以及还存在的问题;(2)研究并采用精密平台隔减振系统的半主动控制方案,然后根据本课题组所制作出的磁流变弹性体减振装置计算出装有该装置的精密平台的动力学模型,最后根据控制器能够输出的最大电流值来计算该装置能够出的最大的力;(3)针对磁流变弹性体隔减振装置控制电流的智能精确选择的问题,本文提出了利用模糊分数阶PID控制算法对电流进行智能选择。首先采用粒子群算法对分数阶PID五个变量进行优化得到最优值,然后运用模糊控制算法对分数阶PID的五个关键参数进行实时调整以达到更好的控制性能,最后使用SIMULINK仿真平台对精密平台模型结合控制算法进行动态仿真,结果表明,该控制算法能够很好的抑制平台的竖向振动;(4)研发了一款基于ARM Cortex-M4的STM32当作微处理器的精密平台智能减振控制器,且以Keil为软件开发环境,设计了基于加速度反馈的控制系统,并详细介绍了该控制系统的核心硬件电路、外部电流输出硬件电路和相关软件设计。该系统电路具体由微控制器周边的各种接口、加速度采集电路、数据传输显示、低通滤波以及压控电流电路等模块组成,并结合模糊分数阶PID控制算法通过手动改变PWM输出占空比的方法得知所设计的智能控制器输出电流较为准确能够满足控制要求;(5)利用实际的动态试验,验证该减振控制器的实际控制效果。结果表明:该智能控制器能够很好的运行所提出的模糊分数阶PID控制算法,并能够根据外界加速度的变化实时的精确的输出相应PWM波,同时验证了所设计的外部硬件电路能够根据PWM波输出相应的精确的电流。
[Abstract]:Magnetorheological elastomer is a new branch of magneto-rheological material. Its typical characteristic is that the properties such as modulus and damping can be controlled by external magnetic field, and the response speed is fast and the controllability is good, so it is often used in many fields of vibration control. At present, due to the increasing demand of precision instruments for the external environment, but the existing vibration isolation control effect is not obvious, the low frequency interference isolation effect is very poor. So this paper combines the research of magneto-rheological elastomer at home and abroad, adopts the magnetorheological elastomer device studied by our group to control the vibration of the working platform carrying precision instrument, in order to solve the problem of vibration reduction effect of the controlled platform. The purpose of this project is to solve the problem of intelligent selection of control current and the development of intelligent controller for the vibration isolation device of magneto-rheological elastomer. The main work of this paper is as follows: (1) A brief overview of the research status of the magnetorheological elastomer vibration isolating device and its corresponding controllers at home and abroad, and the existing problems are also given. The semi-active control scheme of the vibration isolation system of the precision platform is studied and adopted. Then the dynamic model of the precision platform with this device is calculated according to the magneto-rheological elastomer vibration absorber made by our group. Finally, according to the maximum current value that the controller can output to calculate the maximum force that the device can produce, aiming at the problem of intelligent and accurate selection of the control current of the magnetorheological elastomer vibration isolator, In this paper, a fuzzy fractional order PID control algorithm is proposed to select the current intelligently. Firstly, the particle swarm optimization algorithm is used to optimize the five variables of fractional PID, and then the fuzzy control algorithm is used to adjust the five key parameters of fractional PID in real time to achieve better control performance. Finally, the SIMULINK simulation platform is used to simulate the precision platform model and control algorithm. The results show that, This control algorithm can restrain the vertical vibration of the platform very well. (4) A kind of intelligent damping controller based on ARM Cortex-M4 STM32 is developed, and the control system based on acceleration feedback is designed with Keil as the software development environment. The core hardware circuit, external current output hardware circuit and related software design of the control system are introduced in detail. The system circuit is composed of various interfaces around the microcontroller, acceleration acquisition circuit, data transmission display, low-pass filter and voltage-controlled current circuit, etc. Combined with the fuzzy fractional PID control algorithm, by manually changing the duty cycle of PWM output, it is found that the output current of the designed intelligent controller can meet the control requirements more accurately. The actual control effect of the damping controller is verified. The results show that the intelligent controller can run the fuzzy fractional PID control algorithm well, and can output the corresponding PWM wave accurately and in real time according to the change of external acceleration. At the same time, it is verified that the designed external hardware circuit can output the corresponding accurate current according to the PWM wave.
【学位授予单位】：南京林业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TB535

【参考文献】