基于模型修正的振动控制系统联合仿真与试验研究

发布时间：2018-06-17 11:01

本文选题：磁悬浮 + 非线性　；参考：《南京航空航天大学》2015年硕士论文

【摘要】：由于控制状态下悬臂梁、转子凸显了很多复杂的动力学特性,为了研究控制-电磁-结构的耦合效应,故以悬臂梁、转子振动主动控制系统为对象,研究其控制状态下的动力学特性以及控制与结构耦合效应,推动机电一体化仿真建模技术发展。本文针对磁悬浮控制悬臂梁系统的电磁部分、机械结构部分以及控制参数与结构动力学耦合效应进行了分析:(1)对于电磁作动器的电磁力的大小,分别通过理论计算、有限元计算、试验测试等方式进行了分析,并将之成功运用于基于虚拟技术的联合仿真中。(2)对于PID控制器控制状态下的悬臂梁动力学特性的研究,本文首先利用模型修正技术,建立了悬臂梁机械结构部分的精确模型,并通过Bush单元模拟电磁作动器对于悬臂梁的支承作用,通过MATLAB编程调用Nastran计算,建立Bush单元的非线性刚度与模型模态频率之间的数学关系。然后,通过模态试验测得实际结构模型控制状态下动力学特性。最后,利用试验数据修正出Bush单元精确非线性规律。(3)针对控制参数与悬臂梁结构耦合特性,本文根据响应面的思想,建立了悬臂梁PID控制器的大比例控制环节电阻参数、支承刚度与模型模态频率的映射关系,并结合模型确认方法,利用P-Box的概率边界方法与正态分布法,研究了控制参数不确定性、结构安装不确定性以及模态参数辨识不确定性的正反向传递。针对控制状态下悬臂梁动力学特性研究过程中阻尼参数难以辨识的问题,提出将时域信号与模型修正技术相结合,利用时域信号的奇异值分解技术得到时域信号的信号特征,基于这一特征建立响应面,从而修正出模型的精确设计参数,并在磁悬浮轴承-转子系统中实际测试了这一方法,取得较好效果。
[Abstract]:In order to study the coupling effect of control-electromagnetic-structure, the active control system of cantilever beam and rotor vibration is taken as the object, because of the cantilever beam under the control state, the rotor highlights a lot of complex dynamic characteristics, in order to study the coupling effect of the control-electromagnetic-structure. The dynamic characteristics and the coupling effect between control and structure are studied in order to promote the development of mechatronics simulation modeling technology. In this paper, the electromagnetic part of the magnetic suspension control cantilever beam system, the mechanical structure part and the coupling effect between the control parameters and the structure dynamics are analyzed. The finite element calculation, test and test are analyzed, and successfully applied to the research of the dynamic characteristics of the cantilever beam under the control of pid controller in the joint simulation based on virtual technology. In this paper, firstly, the model correction technique is used to study the dynamic characteristics of the cantilever beam under the control state of the pid controller. The exact model of the mechanical structure of the cantilever beam is established, and the supporting effect of the electromagnetic actuator on the cantilever beam is simulated by the Bush element. The Nastran calculation is called by MATLAB programming. The mathematical relationship between the nonlinear stiffness of the Bush element and the modal frequency of the model is established. Then, the dynamic characteristics under the control state of the actual structure model are measured by modal test. Finally, the accurate nonlinear rule of Bush element is corrected by the test data. (3) aiming at the coupling characteristic between control parameters and cantilever beam structure, according to the thought of response surface, a large proportion control link resistance parameter of pid controller for cantilever beam is established in this paper. The mapping relationship between the support stiffness and the modal frequency of the model is studied, and the uncertainty of control parameters is studied by using P-Box 's probabilistic boundary method and normal distribution method. The forward and backward transfer of structural installation uncertainty and modal parameter identification uncertainty. In view of the difficulty of identifying damping parameters in the study of dynamic characteristics of cantilever beam in the control state, the time-domain signal is combined with the model correction technique and the singular value decomposition technique of the time-domain signal is used to obtain the signal characteristics of the time-domain signal. Based on this feature, the response surface is established, and the precise design parameters of the model are corrected. The method is tested in the magnetic bearing rotor system, and good results are obtained.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TB535

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