智能空间刚架的模糊自抗扰振动抑制研究
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摘要
智能空间刚架作为太空望远镜支撑架是一种新型智能空间结构.为抑制刚架系统在运动过程中产生的振动,"文章提出了一种基于自抗扰控制的非线性模糊自抗扰控制理论,并设计出模糊自抗扰控制器.首先采用有限元方法计算出空间刚架的质量矩阵、阻尼矩阵和刚度矩阵,进而建立系统模型并设计出自抗扰控制器以实现对系统振动的抑制.基于普通自抗扰控制器,利用模糊推理在线整定控制器中非线性状态误差反馈的参数.该控制器不依赖于被控对象的精确数学模型,具有良好的控制性能,同时参数的在线自整定简化了调参难度.仿真实验验证了所提方法的有效性.
Intelligent space rigid frame is a new kind of space structure being used in the support frame of the space telescope. In order to suppress the vibration in the movement of the system, the innovative nonlinear fuzzy active disturbance rejection control(ADRC) theory based on ADRC algorithm is proposed, and then a novel fuzzy ADRC controller is designed. Firstly, the finite element method is utilized to calculate the mass matrix, damping matrix, and stiffness matrix to model the space rigid frame.Furthermore, an effective ADRC controller based on the rough mathematical model is constructed to suppress the vibration. On the basis of these, a fuzzy ADRC scheme that utilizes the fuzzy inference is proposed to realize the parameters self-tuning of the nonlinear state error feedback(NLSEF) for the system. It brings a favourable vibration suppression performance without relying on the exact mathematical model as well as simplifies the parameters tuning problem by fuzzy inference online. Finally,the effectiveness of the proposed method is illustrated by simulation results.
Intelligent space rigid frame is a new kind of space structure being used in the support frame of the space telescope. In order to suppress the vibration in the movement of the system, the innovative nonlinear fuzzy active disturbance rejection control(ADRC) theory based on ADRC algorithm is proposed, and then a novel fuzzy ADRC controller is designed. Firstly, the finite element method is utilized to calculate the mass matrix, damping matrix, and stiffness matrix to model the space rigid frame.Furthermore, an effective ADRC controller based on the rough mathematical model is constructed to suppress the vibration. On the basis of these, a fuzzy ADRC scheme that utilizes the fuzzy inference is proposed to realize the parameters self-tuning of the nonlinear state error feedback(NLSEF) for the system. It brings a favourable vibration suppression performance without relying on the exact mathematical model as well as simplifies the parameters tuning problem by fuzzy inference online. Finally,the effectiveness of the proposed method is illustrated by simulation results.
引文
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[13]Sun L,Li D H,Hu K T,et al.On tuning and practical implementation of active disturbance rejection controller:A case study from a regenerative heater in a 1000MW power plant.Industrial&Engineering Chemistry Research,2016,55(23):6686-6695.
[14]Sun L,Li D H,Gao Z Q,et al.Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system.ISA Transactions,2016,64:24-33.
[15]Shao L W,Liao X Z,Zhang Y H.Application of time scale to parameters tuning of active disturbance rejection controller for induction motor.Journal of Beijing Institute of Technology,2007,16(4):419-423.
[16]Ao C H,Bi J C.Parameter auto-tuning method based on self-learning algorithm.Journal of Computers,2012,7(9):2168-2175.
[17]李东旭.大型挠性空间桁架结构动力学分析与模糊振动控制.北京:科学出版社,2008.(Li D X.Large Flexible Space Truss Structures:Dynamic Analyses and Vibration Fuzzy Control.Beijing:Science Press,2008.)
[18]刘洋.空间望远镜压电主动杆减振技术研究.硕士论文,中国科学技术大学,2015.(Liu Y.Research on Piezoelectric active vibration control technology of space telescope.Master Thesis,University of Science and Technology of China,2015.)
[19]Saito E,Katsura S.Force control of two-mass resonant system with vibration suppression based on modal transformation.IECON 2012-38th Annual Conference on IEEE Industrial Electronics Society,2012,2589-2594.
[20]陈文英,褚福磊,闫绍泽.基于扩张状态观测器和非线性状态误差反馈设计自抗扰振动控制器.机械工程学报,2010,46(3):59-64.(Chen W Y,Chu F L,Yan S Z.Active disturbances rejection vibration controller using extended state observer and nonlinear state error feedback.Journal of Mechanical Engineering,2010,46(3):59-64.)
[21]黄庆.交流永磁电机伺服系统复合自抗扰控制策略研究.博士论文,湖南大学,2014.(Huang Q.Control Strategies for PM AC servo system with compound active disturbance rejection control.Doctoral Dissertation,Hunan University,2014.)
[2]Hassan M A,Coats D,Gouda K,et al.Analysis of nonlinear vibration-interaction using higher order spectra to diagnose aerospace system faults.Aerospace Conference,2012,1-8.
[3]Clark W W.Vibration control with state-switched piezoelectric materials.Journal of Intelligent Material Systems and Structures,2000,11(4):263-271.
[4]Dimitriadis E K,Fuller C R,Rogers C A.Piezoelectric actuators for distributed vibration excitation of thin plates.Journal of Vibration and Acoustics,1991,113(1):100-107.
[5]Hanagud S,Obal M W,Calise A J.Optimal vibration control by the use of piezoceramic sensors and actuators.Journal of Guidance,Control,and Dynamics,1992,15(5):1199-1206.
[6]程松松,钟华,梁青,等.基于等价输入扰动的空间桁架振动控制的研究.系统科学与数学,2015,35(7):757-765.(Cheng S S,Zhong H,Liang Q,et al.Study on vibration control for space truss based on the equivalent-input-disturbance.Journal of Systems Science and Mathematical Sciences,2015,35(7):757-765.)
[7]Xu B,Jiang J S.Integrated optimization of structure and control for piezoelectric intelligent trusses with uncertain placement of actuators and sensors.Computational Mechanics,2004,33(5):406-412.
[8]Fanson J L,Caughey T K.Positive position feedback control for large space structures.AIAA Journal,1990,28(4):717-724.
[9]Zhou D,Zhou J Y.Nonlinear adaptive slewing motion control of spacecraft truss driven by synchronous V-gimbaled CMG precession.Chinese Journal of Aeronautics,2007,20(4):334-340.
[10]韩京清.自抗扰控制器及其应用.控制与决策,1998,13(1):19-23.(Han J Q.Auto disturbance rejection control and its applications.Control and Decision,1998,13(1):19-23.)
[11]Han J Q.From PID to active disturbance rejection control.IEEE transactions on Industrial Electronics,2009,56(3):900-906.
[12]韩京清.自抗扰控制技术——估计补偿不确定因素的控制技术.北京:国防工业出版社,2008.(Han J Q.Active Disturbance Rejection Control Technique-The Technique for Estimating and Compensating the Uncertainties.Beijing:National Defense Industry Press,2008.)
[13]Sun L,Li D H,Hu K T,et al.On tuning and practical implementation of active disturbance rejection controller:A case study from a regenerative heater in a 1000MW power plant.Industrial&Engineering Chemistry Research,2016,55(23):6686-6695.
[14]Sun L,Li D H,Gao Z Q,et al.Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system.ISA Transactions,2016,64:24-33.
[15]Shao L W,Liao X Z,Zhang Y H.Application of time scale to parameters tuning of active disturbance rejection controller for induction motor.Journal of Beijing Institute of Technology,2007,16(4):419-423.
[16]Ao C H,Bi J C.Parameter auto-tuning method based on self-learning algorithm.Journal of Computers,2012,7(9):2168-2175.
[17]李东旭.大型挠性空间桁架结构动力学分析与模糊振动控制.北京:科学出版社,2008.(Li D X.Large Flexible Space Truss Structures:Dynamic Analyses and Vibration Fuzzy Control.Beijing:Science Press,2008.)
[18]刘洋.空间望远镜压电主动杆减振技术研究.硕士论文,中国科学技术大学,2015.(Liu Y.Research on Piezoelectric active vibration control technology of space telescope.Master Thesis,University of Science and Technology of China,2015.)
[19]Saito E,Katsura S.Force control of two-mass resonant system with vibration suppression based on modal transformation.IECON 2012-38th Annual Conference on IEEE Industrial Electronics Society,2012,2589-2594.
[20]陈文英,褚福磊,闫绍泽.基于扩张状态观测器和非线性状态误差反馈设计自抗扰振动控制器.机械工程学报,2010,46(3):59-64.(Chen W Y,Chu F L,Yan S Z.Active disturbances rejection vibration controller using extended state observer and nonlinear state error feedback.Journal of Mechanical Engineering,2010,46(3):59-64.)
[21]黄庆.交流永磁电机伺服系统复合自抗扰控制策略研究.博士论文,湖南大学,2014.(Huang Q.Control Strategies for PM AC servo system with compound active disturbance rejection control.Doctoral Dissertation,Hunan University,2014.)