柔性神经网络滑模主动控制技术
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摘要
针对复杂激励条件下的振动控制,对Jiles-atherton模型的磁致伸缩作动器在双层隔振系统中的主动控制进行了研究。以传统滑模控制为基础,提出一种柔性神经网络滑模控制算法。用正则化方法设计控制器的切换矩阵,建立神经网络权值和柔性映射参数更新学习公式,并将该控制策略应用于双层隔振系统的振动主动控制中。通过单频、多频及随机信号激励进行仿真研究,结果表明:柔性神经网络滑模控制器具有较强的鲁棒性,具有较好的控制效果。
For solving the vibration control problem in complex excitation,the active control of magnetostrictive actuator of Jiles-atherton model in double-layer vibration isolation system was researched. Based on the traditional sliding mode control,a flexible neural network sliding mode control algorithm was proposed and the controller switching matrix was designed by the regularization method,then the updating formulas of the neural network weights and flexible mapping parameter were also established. Furthermore the control strategy was used for the active vibration control in double-layer vibration isolation system. Finally,the single frequency,multi frequency and random signal excitation were simulated and the results show that the flexible neural network sliding mode controller has a strong robustness and a good control effect.
For solving the vibration control problem in complex excitation,the active control of magnetostrictive actuator of Jiles-atherton model in double-layer vibration isolation system was researched. Based on the traditional sliding mode control,a flexible neural network sliding mode control algorithm was proposed and the controller switching matrix was designed by the regularization method,then the updating formulas of the neural network weights and flexible mapping parameter were also established. Furthermore the control strategy was used for the active vibration control in double-layer vibration isolation system. Finally,the single frequency,multi frequency and random signal excitation were simulated and the results show that the flexible neural network sliding mode controller has a strong robustness and a good control effect.
引文
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[15]郝慧荣,白鸿柏,张慧杰.六自由度主被动一体隔振平台鲁棒控制[J].振动与冲击,2012,31(7):122-127.HAO Huirong,BAI Hongbai,ZHANG Huijie.Robust control of a 6-DOF active-passive vibration isolation platform[J].Journal of Vibration and Shock,2012,31(7):122-127.(in Chinese)
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[18]李以农,张锋,王雷.次级通道在线辨识的齿轮啮合振动主动控制[J].振动与冲击,2013,32(16):7-12LI Yinong,ZHANG Feng,WANG Lei.Active vibration control of gear meshing based on online secondary path identification algorithm[J].Journal of Vibration and Shock,2013,32(16):7-12.(in Chinese)
[19]胡庆雷,马广富,姜野.三轴稳定挠性卫星姿态机动时变滑模变结构和主动振动控制[J].控制理论与应用,2009,26(2):122-126.HU Qinglei,MA Guangfu,JIANG Ye.Variable structure control with time varying sliding mode and vibration control for flexible satellite[J].Control Theory and Applications,2009,26(2):122-126.(in Chinese)
[20]朱熹育,王社良,朱军强.基于Sugeno型模糊神经网络的空间杆系结构的压电驱动器主动控制[J].工程力学,2013,30(8):272-277.ZHU Xiyu,WANG Sheliang,ZHU Junqiang.Sugeno-type fuzzy neural network active control of space frame structure based on piezoelectric actuator[J].Engineering Mechanics,2013,30(8):272-277.(in Chinese)
[21]Lan K J,Yen J Y,Kramar J A.Sliding mode control for active vibration isolation of a long range scanning tunneling microscope[J].Review of Scientific Instruments,2004,75(11):4367-4373.
[22]Chen Y H,Yang B,Dong J W.Evolving flexible neural networks using ant programming and PSO algorithm[J].Advances in Neural Networks,2004,3173:211-216.
[23]葛宝明,林飞,李国国.先进控制理论及其应用[M].北京:机械工业出版社,2007.GE Baoming,LIN Fei,LI Guoguo.Advanced control theory and its application[M].Beijing:Mechanical Industry Press,2007.(in Chinese)
[24]Won J K,Ali S.A novel low-power linear magnetostrictive actuator with local three-phase excitation[J].IEEE/ASME Transactions on Mechatronics,2010,15(2):299-307.
[25]王博文,曹淑瑛,黄美文.磁致伸缩材料与器件[M].北京:冶金工业出版社,2008.WANG Bowen,CAO Shuying,HUANG Meiwen.Magnetostrictive materials and devices[M].Beijing:Metallurgical Industry Press,2008.(in Chinese)
[26]Young K D,Utkin V I,Ozguner U.A control engineer's guide to sliding mode control[J].IEEE Transactions on Control Systems Technology,1999,7(3):328-342.
[27]Ricardo C L,Maurício C O,Pedro L D.Convergent LMI relaxations for robust analysis of uncertain linear systems using lifted polynomial parameter-dependent lyapunov functions[J].Systems&Control Letters,2008,57(8):680-689.
[28]郑凯,陈杰,杨义勇.压电自适应桁架结构智能振动控制[J].控制理论与应用,2010,27(7):943-947.ZHENG Kai,CHEN Jie,YANG Yiyong.Intelligent vibration control of adaptive piezoelectric truss structure[J].Control Theory&Applications,2010,27(7):943-947.(in Chinese)
[2]杨铁军,顾仲权,刘志刚,等.双层隔振系统耦合振动主动控制试验研究[J].振动工程学报,2003,16(2):25-27.YANG Tiejun,GU Zhongquan,LIU Zhigang,et al.Experimental research on active control of coupled vibration for a two-stage isolation system[J].Journal of Vibration Engineering,2003,16(2):25-27.(in Chinese)
[3]张克国,杜清府.复杂激励下双层隔振系统的主动控制研究[J].中国机械工程,2006,17(2):134-136.ZHANG Keguo,DU Qingfu.Study on active control of vibration in two-layer isolation system with multiple excitations[J].China Mechanical Engineering,2006,17(2):134-136.(in Chinese)
[4]何琳,徐伟.舰船隔振装置技术及其进展[J].声学报,2013,38(2):128-135.HE Lin,XU Wei.Naval vessel machinery mounting technology and its resent advances[J].Acta Acustica,2013,38(2):128-135.(in Chinese)
[5]王云峰,程伟.小型航天器微振动主动控制平台建模与仿真[J].振动与冲击,2013,32(22):140-145.WANG Yunfeng,CHENG Wei.Modeling and simulation of a mini micro-vibration active control platform for spacecrafts[J].Journal of Vibration and Shock,2013,32(22):140-145.(in Chinese)
[6]权渭锋,毛剑琴,李超.智能结构与智能控制在振动主动控制中的应用[J].信息与电子工程,2004,2(3):232-237.QUAN Weifeng,MAO Jianqin,LI Chao.Application of intelligent structure and intelligent control in active vibration control[J].Information and Electronic Engineering,2004,2(3):232-237.(in Chinese)
[7]Sathishkumar R,Vimalajuliet A,Prasath J S.Terfenol-D:a high power giant magnetostrictive material for submarine mapping[J].International Journal of Engineering Science and Technology,2010,2(12):7165-7170.
[8]陶孟仑,陈定方,卢全国,等.超磁致伸缩材料动态涡流损耗模型及试验分析[J].机械工程学报,2012,48(13):146-151.TAO Menglun,CHEN Dingfang,LU Quanguo,et al.Eddy current losses of giant magnetostrictors:modeling and experimental analysis[J].Journal of Mechanical Engineering,2012,48(13):146-151.(in Chinese)
[9]胡世峰,朱石坚.基于CMAC小脑神经网络的超磁致伸缩作动器高精度控制的仿真研究[J].振动与冲击,2009,28(3):68-72.HU Shifeng,ZHU Shijian.High-precision control of giant magnetostrictive actuator based on CMAC neural network[J].Journal of Vibration and Shock,2009,28(3):68-72.(in Chinese)
[10]Lau H Y,Liu K P.Feasibility of using GMM based actuators in active control of journal bearing system[C]//Proceedings of the World Congress on Engineering,2009.
[11]张天飞,汪鸿振,孙曜.超磁致伸缩作动器用于振动主动控制中的仿真研究[J].振动与冲击,2006,25(1):61-65.ZHANG Tianfei,WANG Hongzhen,SUN Yao.Simulation on active vibration control[J].Journal of Vibration and Shock,2006,25(1):61-65.(in Chinese)
[12]Francesco C D,Simone C.A model of magnetostrictive actuators for active vibration control[C]//Proceedings of IEEE International Symposium on Industrial Electronics,2011.
[13]王社良,纪庆波,代建波,等.基于超磁致伸缩作动杆的结构振动主动控制研究[J].噪声与振动控制,2010,30(6):23-26.WANG Sheliang,JI Qingbo,DAI Jianbo,et al.Study on active vibration control of the structure using giant magnetostrictive actuator[J].Noise and Vibration Control,2010,30(6):23-26.(in Chinese)
[14]李斌,董万元,王小兵.一种气动/电磁联合作动的主动隔振器设计与仿真[J].西北工业大学学报,2013,31(6):871-877.LI Bin,DONG Wanyuan,WANG Xiaobin.Design and simulation of an active vibration isolator based on pneumatic electromagnetic hybrid driving[J].Journal of Northwestern Polytechnical University,2013,31(6):871-877.(in Chinese)
[15]郝慧荣,白鸿柏,张慧杰.六自由度主被动一体隔振平台鲁棒控制[J].振动与冲击,2012,31(7):122-127.HAO Huirong,BAI Hongbai,ZHANG Huijie.Robust control of a 6-DOF active-passive vibration isolation platform[J].Journal of Vibration and Shock,2012,31(7):122-127.(in Chinese)
[16]赫晓光.双层隔振系统模糊振动主动控制技术[J].噪声与振动控制,2010,30(2):38-42.HE Xiaoguang.Fuzzy logic control of double stage vibration isolation system[J].Noise and Vibration Control,2010,30(2):38-42.(in Chinese)
[17]高新科,邵鹊.智能阻尼双层隔振系统的半主动最优控制[J].振动与冲击,2012,31(19):128-133.GAO Xinke,SHAO Que.Semi-active optimal control of intelligent damping double vibration isolation system[J].Journal of Vibration and Shock,2012,31(19):128-133.(in Chinese)
[18]李以农,张锋,王雷.次级通道在线辨识的齿轮啮合振动主动控制[J].振动与冲击,2013,32(16):7-12LI Yinong,ZHANG Feng,WANG Lei.Active vibration control of gear meshing based on online secondary path identification algorithm[J].Journal of Vibration and Shock,2013,32(16):7-12.(in Chinese)
[19]胡庆雷,马广富,姜野.三轴稳定挠性卫星姿态机动时变滑模变结构和主动振动控制[J].控制理论与应用,2009,26(2):122-126.HU Qinglei,MA Guangfu,JIANG Ye.Variable structure control with time varying sliding mode and vibration control for flexible satellite[J].Control Theory and Applications,2009,26(2):122-126.(in Chinese)
[20]朱熹育,王社良,朱军强.基于Sugeno型模糊神经网络的空间杆系结构的压电驱动器主动控制[J].工程力学,2013,30(8):272-277.ZHU Xiyu,WANG Sheliang,ZHU Junqiang.Sugeno-type fuzzy neural network active control of space frame structure based on piezoelectric actuator[J].Engineering Mechanics,2013,30(8):272-277.(in Chinese)
[21]Lan K J,Yen J Y,Kramar J A.Sliding mode control for active vibration isolation of a long range scanning tunneling microscope[J].Review of Scientific Instruments,2004,75(11):4367-4373.
[22]Chen Y H,Yang B,Dong J W.Evolving flexible neural networks using ant programming and PSO algorithm[J].Advances in Neural Networks,2004,3173:211-216.
[23]葛宝明,林飞,李国国.先进控制理论及其应用[M].北京:机械工业出版社,2007.GE Baoming,LIN Fei,LI Guoguo.Advanced control theory and its application[M].Beijing:Mechanical Industry Press,2007.(in Chinese)
[24]Won J K,Ali S.A novel low-power linear magnetostrictive actuator with local three-phase excitation[J].IEEE/ASME Transactions on Mechatronics,2010,15(2):299-307.
[25]王博文,曹淑瑛,黄美文.磁致伸缩材料与器件[M].北京:冶金工业出版社,2008.WANG Bowen,CAO Shuying,HUANG Meiwen.Magnetostrictive materials and devices[M].Beijing:Metallurgical Industry Press,2008.(in Chinese)
[26]Young K D,Utkin V I,Ozguner U.A control engineer's guide to sliding mode control[J].IEEE Transactions on Control Systems Technology,1999,7(3):328-342.
[27]Ricardo C L,Maurício C O,Pedro L D.Convergent LMI relaxations for robust analysis of uncertain linear systems using lifted polynomial parameter-dependent lyapunov functions[J].Systems&Control Letters,2008,57(8):680-689.
[28]郑凯,陈杰,杨义勇.压电自适应桁架结构智能振动控制[J].控制理论与应用,2010,27(7):943-947.ZHENG Kai,CHEN Jie,YANG Yiyong.Intelligent vibration control of adaptive piezoelectric truss structure[J].Control Theory&Applications,2010,27(7):943-947.(in Chinese)