悬臂梁振动抑制自适应控制方法研究

发布时间：2018-04-10 02:18

本文选题：振动抑制控制　切入点：悬臂梁动力学分析　出处：《西南石油大学》2017年硕士论文

【摘要】：由于柔性结构的机械臂质量轻、灵活性好,随着其在航天及精密仪器制造等行业的应用越来越广泛,对其也提出了越来越高的要求。为解决因柔性机械臂弹性导致的残余振动影响其使用精度和稳定性的问题,提出了基于李雅普诺夫稳定定理的模型参考自适应控制方法的振动抑制方案,以此来消除残余振动。本文将柔性机械臂简化为伯努利-欧拉梁模型,以压电薄膜(PVDF)传感器、基于模型参考自适应控制方法的Labview控制器、压电堆叠陶瓷致动器为主要研究对象的思路对其进行振动抑制控制研究。首先,介绍了对振动进行抑制的目的意义,阅读相关的国内外文献研究资料,确定了本文的研究内容和研究方案。在此基础上,对模型参考自适应控制理论进行研究,确定了利用基于李雅普诺夫稳定定理的模型参考自适应控制方法对悬臂梁振动进行抑制。然后,建立了悬臂梁系统的横向振动微分方程、模态坐标下的横向振动微分方程,计算了所建悬臂梁模型的角频率及固有频率,并在ANSYS Workbench软件环境下对悬臂梁模型进行模态仿真。通过对计算结果和仿真结果的分析,对悬臂梁模型的正确性进行了验证。为达到更好的控制效果,在基于正确的悬臂梁模型基础上,利用Workbench对其进行瞬态动力学仿真对振动传感器/致动器的位置进行优化选择。其次,通过悬臂梁模型模态坐标下的横向振动微分方程得到状态空间方程和传递函数,将传递函数转换得到的系统差分方程作为参数辨识的参数模型,以此为依据利用带通滤波器和递推最小二乘法对振动信号的固有频率进行辨识。运用基于李雅普诺夫稳定理论的模型参考自适应控制方法设计悬臂梁压电振动抑制自适应控制器。利用MATLAB软件对设计完成的控制器进行仿真,通过对控制器在模型参考自适应控制作用下的控制响应效果进行分析,表明控制器实现了振动抑制效果。最后,根据设计方案完成了悬臂梁振动抑制自适应控制实验平台的搭建。在实验平台上进行了悬臂梁振动抑制控制效果验证实验。实验结果表明:基于李雅普诺夫稳定理论的模型参考自适应控制系统能有效的对悬臂梁的振动进行抑制,经过振动抑制控制后,悬臂梁开始振动后到再次稳定状态的时间明显减短,为未控制状态下的17%。
[Abstract]:Due to the light weight and good flexibility of flexible manipulator, it has been applied more and more widely in aerospace and precision instrument manufacturing industries.In order to solve the problem that the residual vibration caused by the elasticity of flexible manipulator affects its accuracy and stability, a model reference adaptive control scheme based on Lyapunov stability theorem is proposed to eliminate the residual vibration.In this paper, the flexible manipulator is simplified as the Bernoulli Euler beam model, and the Labview controller based on the model reference adaptive control method is used for the piezoelectric thin film Labview sensor.The vibration suppression control of piezoelectric stacked ceramic actuator is studied.Firstly, the purpose significance of vibration suppression is introduced, and the research contents and schemes of this paper are determined.On this basis, the model reference adaptive control theory is studied, and the model reference adaptive control method based on Lyapunov stability theorem is determined to suppress the vibration of cantilever beam.Then, the differential equations of transverse vibration and transverse vibration of cantilever beam system are established, and the angular frequency and natural frequency of the model are calculated.The model of cantilever beam is simulated by ANSYS Workbench software.The correctness of the cantilever beam model is verified by analyzing the results of calculation and simulation.In order to achieve better control effect, based on the correct cantilever beam model, the position of vibration sensor / actuator is optimized by transient dynamic simulation with Workbench.Secondly, the state space equation and the transfer function are obtained by the lateral vibration differential equation of the cantilever beam model modal coordinate. The system difference equation obtained by the transfer function transformation is regarded as the parameter model of parameter identification.Based on this, the natural frequency of vibration signal is identified by using band-pass filter and recursive least square method.A model reference adaptive control method based on Lyapunov stability theory is used to design an adaptive controller for piezoelectric vibration suppression of cantilever beam.The designed controller is simulated by using MATLAB software. By analyzing the control response effect of the controller under the action of model reference adaptive control, it is shown that the controller achieves the effect of vibration suppression.Finally, according to the design scheme, the experimental platform of vibration suppression adaptive control of cantilever beam is built.The vibration suppression control effect of cantilever beam is verified on the experimental platform.The experimental results show that the model reference adaptive control system based on Lyapunov stability theory can effectively suppress the vibration of cantilever beam.The time from the beginning of vibration to the second stable state of the cantilever beam is obviously reduced to 17 parts in the uncontrolled state.
【学位授予单位】：西南石油大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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