压电智能结构振动主动控制关键技术研究

发布时间：2019-07-05 11:50

【摘要】：压电材料具有良好的压电和机电耦合等特性,在智能结构中可兼具传感、驱动功能于一体。基于压电材料的振动主动控制系统有很强的灵活性和环境适应能力,可控频率宽,响应速度快,在航空航天、机械、交通等领域得到广泛应用。目前,压电智能结构振动主动控制已取得了很多成果,但还有不少关键问题亟待解决,本文主要从压电器件与控制律的集成优化、考虑外界质量摄动的鲁棒控制算法、非线性扰动下控制器饱和抑制的自适应控制算法、同位配置下的局部应变补偿和振动容错控制等五个方面进行了研究。论文主要工作和创新性成果如下:(1)基于Hamilton原理和模态变换理论建立了压电智能悬臂梁机电耦合模型,以储存能量和控制能量最小以及振动衰减最快的多重性能指标为目标函数,采用粒子群方法优化出不同模态控制下压电片的最佳数目、分布位置及速度负反馈控制增益,分析了压电片长度和数量对控制效果的影响,仿真验证了该方法的可行性。(2)基于Lyapunov方法设计了一种鲁棒模型参考(RMRC)方法,主要由保证系统的稳定状态反馈控制器和保证良好跟踪的鲁棒补偿控制器组成。探讨了三种不同补偿函数对系统的影响,指出运用tanh或erf函数可有效避免sign函数补偿出现的抖振现象。仿真和实验结果表明,在模型参数变化、外界质量摄动情况下,该方法具有很好的控制效果和鲁棒性。(3)在传统MCS算法和LQR算法的基础上,基于Popov准则设计了一种改进的MCS算法(LQR-IMCS),主要由自适应前馈、反馈和补偿因子三部分组成。通过正弦、脉冲和随机扰动实验证明,该方法可有效抑制自适应控制器的饱和现象,并对壁板的多模态振动具有十分良好的控制效果。(4)针对压电结构振动同位配置控制中存在局部应变和PPF算法阻尼比的两面性问题,通过ANSYS分析了局部应变的产生机理和影响因素,提出运用低通滤波器来滤除高频局部应变模态,用速度负反馈混合PPF算法来进一步提高系统的阻尼比,通过Routh判据给出了新方法的稳定性条件。壁板振动控制实验表明,该方法有效抑制了单一PPF算法控制中出现的谐波分量,两阶模态同时控制效果可达到10d B以上。(5)针对柔性机械臂振动控制系统的可靠性问题,提出运用小波包和RBF神经网络来识别压电传感器的故障,以PPF-DVFB算法为基础,设计了针对两种典型压电器件故障类型的容错控制方案,实验证明其具有良好的容错控制效果。
文内图片：

图片说明：压电被动控制悬臂梁模型
[Abstract]:Piezoelectric materials have good piezoelectric and electromechanical coupling characteristics, and can have both sensing and driving functions in intelligent structures. The active vibration control system based on piezoelectric materials has strong flexibility and environmental adaptability, wide controllable frequency and fast response speed. It has been widely used in aerospace, machinery, transportation and other fields. At present, many achievements have been made in active vibration control of piezoelectric intelligent structures, but there are still many key problems to be solved. In this paper, the integration and optimization of piezoelectric devices and control law, the robust control algorithm considering external mass perturbation, the adaptive control algorithm of controller saturation suppression under nonlinear disturbance, the local strain compensation and vibration fault-tolerant control under the same position configuration are studied. The main work and innovative results of this paper are as follows: (1) based on Hamilton principle and modal transformation theory, the electromechanical coupling model of piezoelectric intelligent cantilever is established. Taking the multiple performance indexes of minimum storage energy and control energy and fastest vibration attenuation as objective functions, the optimal number, distribution position and velocity negative feedback control gain of piezoelectric films under different modal control are optimized by particle swarm optimization method. The influence of the length and quantity of piezoelectric wafer on the control effect is analyzed, and the feasibility of the method is verified by simulation. (2) based on Lyapunov method, a robust model reference (RMRC) method is designed, which is mainly composed of a stable state feedback controller and a robust compensation controller to ensure good tracking. The influence of three different compensation functions on the system is discussed, and it is pointed out that the buffeting phenomenon caused by sign function compensation can be effectively avoided by using tanh or erf function. The simulation and experimental results show that the method has good control effect and robustness under the condition of model parameters changing and external quality perturbation. (3) based on the traditional MCS algorithm and LQR algorithm, an improved MCS algorithm (LQR-IMCS) is designed based on Popov criterion, which is mainly composed of adaptive feedforward, feedback and compensation factors. The sinusoidal, pulse and random disturbance experiments show that this method can effectively suppress the saturation phenomenon of the adaptive controller and has a very good control effect on the multimodal vibration of the panel. (4) aiming at the two problems of local strain and damping ratio of PPF algorithm in the vibration configuration control of piezoelectric structures, the generation mechanism and influencing factors of local strain are analyzed by ANSYS. In this paper, a low-pass filter is proposed to filter the high frequency local strain mode, and the velocity negative feedback hybrid PPF algorithm is used to further improve the damping ratio of the system. The stability condition of the new method is given by Routh criterion. The vibration control experiment of panel shows that this method can effectively suppress the harmonic components in the control of single PPF algorithm, and the simultaneous control effect of two modes can reach more than 10 dB. (5) aiming at the reliability of flexible manipulator vibration control system, wavelet packet and RBF neural network are proposed to identify the fault of piezoelectric sensor, which is based on PPF-DVFB algorithm. A fault-tolerant control scheme for two typical fault types of piezoelectric devices is designed, and the experimental results show that it has a good fault-tolerant control effect.
【学位授予单位】：南京航空航天大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TB535

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