挠性体振动控制研究
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摘要
本文是针对国家自然科学基金项目“空间挠性体的智能自主控制研究”中提出的任务展开工作，对压电智能结构的振动控制技术进行了理论与实验方面的研究。主要以一套LY12(硬铝)柔性臂振动系统为研究对象，利用压电陶瓷片的正逆压电效应，以欧拉梁模型为基础，建立系统机电耦合传感方程和致动方程。并用模态分析的方法，将系统的偏微分方程模型转化成了模态模型；研究了状态反馈和独立模态方法；进一步完善了软件界面以及软件功能；在实际系统中，应用状态反馈算法，有效抑制了悬臂梁在受到外界瞬时脉冲扰动和激振引起的一阶、二阶模态振动。
Funded by the National Research Foundation and served as one item of the research of "Intelligent Self-Control of Flexible Space Structures", this paper investigated vibration suppression of flexible structures. Based on a duralumin flexible beam with piezoelectric films attached, distributed parameter modal described by partial difference equations is builded, and then turned into a set of two order systems with the method of modal analyse. State feedback control and independent modal control is investigated. And simulation of the closed-loop system with thest two methods is performed in MATLAB. Control software of the beam system is improved. In experiment, state feedback control is used and is verified by the well suppressed vibration of the flexible beam.
Funded by the National Research Foundation and served as one item of the research of "Intelligent Self-Control of Flexible Space Structures", this paper investigated vibration suppression of flexible structures. Based on a duralumin flexible beam with piezoelectric films attached, distributed parameter modal described by partial difference equations is builded, and then turned into a set of two order systems with the method of modal analyse. State feedback control and independent modal control is investigated. And simulation of the closed-loop system with thest two methods is performed in MATLAB. Control software of the beam system is improved. In experiment, state feedback control is used and is verified by the well suppressed vibration of the flexible beam.
引文
1. Mark J Balas, Trends in Large Space Structure Control Theory: Fondest Hopes, Wildest Dreams, IEEE Transactions On Control, Vol, AC-20, No 3, June 1982, pp522-535
2．王康宁，关肇直，弹性振动的镇定问题，1974年7月第4期，中国科学，pp 335-350
3．王康宁，关肇直，弹性振动的镇定问题Ⅲ，1976年3月第2期，中国科学，pp134-148
4. Victor D, Lupi, Distributed Control and Simulation of a Bernoulli-Euler Beam, Journal of Guidance, Control, and Dynamics, Vol 15, No, 3 May-June, 1992, pp 727-734
5．李勇，挠性智能梁的可镇定性，航天控制，1998年第1期，pp8-12
6. L, Meirovitch and H, Baruh, Robustness Of the Independent Modal-space Control Method, J, Guidance, VOL 6, No, 1, pp 20-25,
7．冯肇华，有限单元体法基础，吉林人民出版社 1984
8．G，R，布查南，有限元分析，科学出版社 2002
9．顾仲权，振动主动控制，国防工业出版社，1997，6
10．舒歌群，郝志勇，结构振动中的弹性波主动控制技术，振动与冲击，Vol19，No，2，2000，pp28-31
11．A, H, von Flotow, Traveling Wave Control for Large Spacecraft Structures, Journal of Guidance, Control, and Dynamics, Vol 9, No, 4, 1986, pp462-468
12．梁春燕，钟庆昌，谢剑英，时滞滤波器抑制残余振荡：理论、方法及应用，控制与决策，Vol 16，No 3，2001，5，pp263-268
13. S, M, Yang, G, S, Lee, Vibration Control of Smart Structures by Using Neutrual Networks, Transactions of ASME, vol 119, 1997, pp 34-39
14．郭雷，郭宝龙，神经网络计算理论，北京 科学出版社 2000
15．史忠科，神经网络控制理论，西北工业大学出版社 1997
16. Hassan K, Khalil, Nonlinear system, Upper Saddle River, NJ: Prentice Hall, c2002,
17. S, M, Hoshi and s, Gupta, "on a class of marginally stable positive-real systams,"IEEE trans, Automatiic control, vol 14, Jan, 1996, pp 152-155
18. G, L, Slater, Albert B, Bosse, and Q, Zhang, Robustness of Positive Real Controllers for Large Space Structures, J, Guidance, Vol 15, No 1
19. Popov V, M, "The Solution of a New Stablity Provblem for Controlled Systems," Automation and Remote Control, Vol 24, No 1, 1963, pp 1-23,
20. Dunant Halim, S, O, Reza Moheinmani, Spatial Resonant Control of Flexible
Structures—Application to a Piezoelectric Laminate Beam, IEEE Transactions On Control Systems Technology, Vol, 9, No, 1, January 2001,pp 37-54
21．周又和，王记增，基于小波理论的悬臂板压电动力控制模式，力学学报，Vol 30，No6，1998，11，719-726
22. G, L Slater, Albert B, Bosse, Robustness of Positive Real Controllers for Large Structures, Journal of Guidance, Control, and Dynamics, Vol, 15 No 1, 1992,
23．李青山，刘正兴，杨耀文，压电材料在智能结构形状和振动控制中的应用，力学进展，vol 29，No 1，1999，2，66-76
24．孙东昌，压电智能结构振动控制的理论与实验研究，中国空间技术研究院第502研究所(北京)博士后出站论文，1999，6
25. Thomas Bailey, James E, Hubbard Jr, Distributed Piezoelectric-polymer active vibration control of a eantelever beam, Journal of Guidance,Control, and Dynamics, Vol 8, NO5, SEPT-OCT, 1985, pp 605-611
26. Emmanuel Degryse, A Novel approach for placing/shaping sensors and actutors for the feedback control of flexible structures, (down from internet)
27. Edward E Crawley, Intelligent Structure for Aerospace: A Technology Overview and Assessment, AIAA Journal, Vol 32, No 8, August, 1994, pp 1689-1699
28．YE5850电荷放大器使用说明书，扬州无线电二厂
29．NH-300三通道功率放大器使用说明书，南京航天航空大学
30．(美)铁摩辛柯(Timoshenko，S，)，(美)盖尔(Gere，J，)著，材料力学，科学出版社 1990，12
31．刘延柱等，振动力学，高等教育出版社，1998
32．(德)R，吉克著，计算公式手册，科学出版社 2000
33．管迪华，模态分析技术，清华大学出版社 1996
34．曾正明，实用工程材料技术手册，机械工业出版社 2000
35．张荣娟，压电智能结构振动控制研究技术研究，南京理工大学硕士论文，2002，3
36. Mark J, Balas, Feedback control of flexible systems, IEEE Transaction on Automatic Control, Vol, Ac-23, NO 4, 1978, pp673-679
37. C, J,, Goh, T, K, Caughey, On the stabilty problem caused by finite actuator dynamics in the collocated control of large space structure, International Journal of control, 1985, vol 41, No 3, pp787-802
38. L, Meirovitch and H, Baruh, Control of Self-Adjoint Distributed-Pararmeter Systems, Journal of Guidance,dynamics, and control, Vol 5, No 1, 1982, pp60-66
39. L, Meirovitch and H, Baruh, Robustness of the Independent Modal-Space Control Method, Journal of Guidance, dynamics, and control, Vol 5, No 1, 1982, pp20-25
40. L, Meirovitch and H, Baruh, The Implement of Modal Filters for Control of Structures, Journal of Guidance, dynamics, and control, Vol 8, No 6, 1985, pp707-716
41．胡寿松，自动控制原理，国防工业出版社，1997
42．郑大钟，线性系统理论，清华大学出版社，1990
2．王康宁，关肇直，弹性振动的镇定问题，1974年7月第4期，中国科学，pp 335-350
3．王康宁，关肇直，弹性振动的镇定问题Ⅲ，1976年3月第2期，中国科学，pp134-148
4. Victor D, Lupi, Distributed Control and Simulation of a Bernoulli-Euler Beam, Journal of Guidance, Control, and Dynamics, Vol 15, No, 3 May-June, 1992, pp 727-734
5．李勇，挠性智能梁的可镇定性，航天控制，1998年第1期，pp8-12
6. L, Meirovitch and H, Baruh, Robustness Of the Independent Modal-space Control Method, J, Guidance, VOL 6, No, 1, pp 20-25,
7．冯肇华，有限单元体法基础，吉林人民出版社 1984
8．G，R，布查南，有限元分析，科学出版社 2002
9．顾仲权，振动主动控制，国防工业出版社，1997，6
10．舒歌群，郝志勇，结构振动中的弹性波主动控制技术，振动与冲击，Vol19，No，2，2000，pp28-31
11．A, H, von Flotow, Traveling Wave Control for Large Spacecraft Structures, Journal of Guidance, Control, and Dynamics, Vol 9, No, 4, 1986, pp462-468
12．梁春燕，钟庆昌，谢剑英，时滞滤波器抑制残余振荡：理论、方法及应用，控制与决策，Vol 16，No 3，2001，5，pp263-268
13. S, M, Yang, G, S, Lee, Vibration Control of Smart Structures by Using Neutrual Networks, Transactions of ASME, vol 119, 1997, pp 34-39
14．郭雷，郭宝龙，神经网络计算理论，北京 科学出版社 2000
15．史忠科，神经网络控制理论，西北工业大学出版社 1997
16. Hassan K, Khalil, Nonlinear system, Upper Saddle River, NJ: Prentice Hall, c2002,
17. S, M, Hoshi and s, Gupta, "on a class of marginally stable positive-real systams,"IEEE trans, Automatiic control, vol 14, Jan, 1996, pp 152-155
18. G, L, Slater, Albert B, Bosse, and Q, Zhang, Robustness of Positive Real Controllers for Large Space Structures, J, Guidance, Vol 15, No 1
19. Popov V, M, "The Solution of a New Stablity Provblem for Controlled Systems," Automation and Remote Control, Vol 24, No 1, 1963, pp 1-23,
20. Dunant Halim, S, O, Reza Moheinmani, Spatial Resonant Control of Flexible
Structures—Application to a Piezoelectric Laminate Beam, IEEE Transactions On Control Systems Technology, Vol, 9, No, 1, January 2001,pp 37-54
21．周又和，王记增，基于小波理论的悬臂板压电动力控制模式，力学学报，Vol 30，No6，1998，11，719-726
22. G, L Slater, Albert B, Bosse, Robustness of Positive Real Controllers for Large Structures, Journal of Guidance, Control, and Dynamics, Vol, 15 No 1, 1992,
23．李青山，刘正兴，杨耀文，压电材料在智能结构形状和振动控制中的应用，力学进展，vol 29，No 1，1999，2，66-76
24．孙东昌，压电智能结构振动控制的理论与实验研究，中国空间技术研究院第502研究所(北京)博士后出站论文，1999，6
25. Thomas Bailey, James E, Hubbard Jr, Distributed Piezoelectric-polymer active vibration control of a eantelever beam, Journal of Guidance,Control, and Dynamics, Vol 8, NO5, SEPT-OCT, 1985, pp 605-611
26. Emmanuel Degryse, A Novel approach for placing/shaping sensors and actutors for the feedback control of flexible structures, (down from internet)
27. Edward E Crawley, Intelligent Structure for Aerospace: A Technology Overview and Assessment, AIAA Journal, Vol 32, No 8, August, 1994, pp 1689-1699
28．YE5850电荷放大器使用说明书，扬州无线电二厂
29．NH-300三通道功率放大器使用说明书，南京航天航空大学
30．(美)铁摩辛柯(Timoshenko，S，)，(美)盖尔(Gere，J，)著，材料力学，科学出版社 1990，12
31．刘延柱等，振动力学，高等教育出版社，1998
32．(德)R，吉克著，计算公式手册，科学出版社 2000
33．管迪华，模态分析技术，清华大学出版社 1996
34．曾正明，实用工程材料技术手册，机械工业出版社 2000
35．张荣娟，压电智能结构振动控制研究技术研究，南京理工大学硕士论文，2002，3
36. Mark J, Balas, Feedback control of flexible systems, IEEE Transaction on Automatic Control, Vol, Ac-23, NO 4, 1978, pp673-679
37. C, J,, Goh, T, K, Caughey, On the stabilty problem caused by finite actuator dynamics in the collocated control of large space structure, International Journal of control, 1985, vol 41, No 3, pp787-802
38. L, Meirovitch and H, Baruh, Control of Self-Adjoint Distributed-Pararmeter Systems, Journal of Guidance,dynamics, and control, Vol 5, No 1, 1982, pp60-66
39. L, Meirovitch and H, Baruh, Robustness of the Independent Modal-Space Control Method, Journal of Guidance, dynamics, and control, Vol 5, No 1, 1982, pp20-25
40. L, Meirovitch and H, Baruh, The Implement of Modal Filters for Control of Structures, Journal of Guidance, dynamics, and control, Vol 8, No 6, 1985, pp707-716
41．胡寿松，自动控制原理，国防工业出版社，1997
42．郑大钟，线性系统理论，清华大学出版社，1990
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