摘要
大型柔性板状结构系统的控制技术可应用于空间系统、航天器及主动光学等领域，大型柔性板状结构是典型的轻质柔性结构系统，此类系统为分布式参数系统，其阻尼弱、低频模态密集且模态参数具有不确定性。再者，控制系统性能指标要求高指向精度、高形状控制精度以及结构模态密集问题使得结构振动与形状控制问题更为棘手。本文侧重研究大型柔性板状结构的智能高精度振动与形状控制，其中考虑到系统高阶模态频率、高维数、多输入多输出性质、边界条件以及作动器/传感器的可靠性等因素的影响，大型柔性板状结构动力学系统的不确定问题归因于高非线性。本文着重研究了结构的建模以及结构振动与形状控制系统设计相关非线性问题，其主要工作如下：
首先，为了确保控制系统测可控性、可观性以及高效能量利用，需要优化设计系统。本文将多种智能算法应用于大型柔性板状结构振动与形状控制中的三类优化配置问题。第一类问题是大型柔性空间板状结构的压电作动器位置优化配置。第二类问题是大型柔性空间板状结构的压电作动器数量优化配置。第三类问题是大型柔性空间板状结构的压电作动器方向优化配置。优化配置作动器优所使用的化适应度函数是以应变片所测表面应力为基础的，其优点在于可将适应度函数与优化问题相对独立因而便于求解。相比之前的研究工作，该优化方法更适应于板状结构几何形状复杂以及适应度函数难以求导的情况。通过与之前的研究成果对比仿真分析表明智能优化算法具有良好的优化效果。
其次，应用新的建模方法构建了详细、完整、准确的大型柔性板状结构动力学模型。该模型的优点在于考虑了结构的主要模态因而更好的避免了“溢出”现象。此外，该模型为降阶模型且因其形式简单便易于大型柔性板状结构振动与形状控制器的设计，更重要的是避免了由控制溢出与观测溢出而导致的系统不稳定现象。最后，通过圆形板与矩形板的建模分析，证明了建模方法的有效性。
第三，本文通过计算仿真与分析并引入了多种智能控制算法用于大型柔性板状结构的振动与形状控制。仿真结果表明与传统控制算法相比，智能控制策略可更好地用于大型柔性板状结构的振动与形状控制，原因在于智能振动与形状控制系统能够更好地处理复杂、不确定性、非线性时变因素。
最后，通过建立智能振动与形状控制实验系统证明了动力学建模方法、多目标智能优化算法、多种智能控制策略的有效性。
The control of large flexible space plate-like structure systems has application to control of spacesystems, aircraft and active optics, to name a few. Large flexible space plate-like structure systems aretypically lightweight and highly flexible. These systems have distributed-parameter dynamics; theirnatural damping is very small; they have many densely packed low-frequency modes; and their modelparameters are uncertain. Moreover, performance requirements such as pointing accuracy, shapecontrol, and bandwidth are very stringent and make the problem of structural vibration more acute.
This dissertation is concerned with the intelligent high precision shape and vibration control oflarge flexible space plate-like structures. The dynamics of large flexible space plate-like structuresystems is uncertain due to factors such as high non-linearity, consideration of higher modalfrequencies, high dimensionality, multiple inputs and outputs, operational constraints, as well asunexpected failures of sensors and/or actuators. This dissertation addresses the modeling of thesestructures and the associated vibration and shape control system design technique. Essentially thisthesis consists of four primary sections.
Firstly, to ensure the highest energy efficiency, controllability, and observability of the system aprocess of optimization is described. This thesis uses several kinds of intelligent algorithms to solvethree optimization problems for vibration and shape control of the large flexible space plate-likestructure. The first problem optimizes the position of a single group of piezoelectric actuators on thelarge flexible space plate-like structure. The second problem optimizes the activation of apre-determined number of actuators. The third problem optimizes the orientation of a single组ofpiezoelectric actuators on the large flexible space plate-like structure. The fitness function foroptimization is determined form the surface strain measured at a strain sensor for the activation ofeach possible actuator. The advantage of this method lies in the decoupling of the fitness functionformulation from the optimization. In comparison to previous approaches, this allows optimization onmuch more complex geometries where the derivation of an analytical fitness function is prohibitive orimpossible. The optimization results obtained through simulation are verified through a comparisonwith results obtained from a report in the existing literature. The agreement between results fromsimulation and experiment demonstrates the validity of the optimizations.
Secondly, a novel modeling method is proposed for flexible space plate-like structure. An explicit,complete, and accurate dynamic mode of large flexible space plate-like structure system is developedusing the proposed new modeling method. The advantage of this type of modeling is that the main mode of vibrations wherein the total energy is concentrated are accommodated thereby avoiding theso-called “spillover” phenomenon. The new model is reduced order model and it is used in designingcontroller for flexible space plate-like structure due to its simplicity, however, it doesn’t lead tocontrol spillover effect which tends to degrade the performance or even destabilize. Besides, the newmodel can facilitate the design of controller. The new modeling method is validated throughcomparative analyses on examples circular plate structure and rectangular plate structure.
Thirdly, thesis develops and evaluates several kinds of intelligent strategies for vibration and shapecontrol of large flexible space plate-like structures through computer simulation and experiment.Simulation and experiment results show that intelligent strategies can more effectively vibration andshape control of large flexible space plate-like structures when compared with conventional algorithm.The intelligent vibration and shape control system can be capable of handing complexity, uncertainty,nonlinearity, and variations with time.
Finally, the experiment system of intelligent vibration and shape control validate modeling method,muti-objects optimization algorithm and intelligent control strategies.
引文
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