电磁式主被动复合隔振器关键技术研究
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摘要
随着现代科技的发展,越来越多的场合对振动环境提出了高要求,振动控制技术在现代生产、生活中日益受到人们的重视,取得了较为丰硕的理论研究成果,并已成功应用于建筑结构抗震、机械结构减振控制、精密机械、仪器及平台稳定控制以及车辆等交通工具的舒适性改善等诸多工程领域中。传统的被动隔振技术高频减振的效果显著,但低频减振效果却不甚理想,已经不能满足减振性能的高要求。
针对这一现状,本文以水下安静型航行器的减振降噪为主要实际背景,结合主、被动隔振各自的优点,开展了电磁式主被动复合隔振器的设计及其控制策略的研究工作。主要包括以下几个方面：电磁式主被动复合隔振器的设计与实现,基于FIR滤波器的自适应前馈控制律设计,考虑内部反馈下的自适应前馈控制律设计,主被动复合隔振性能评价方法研究以及在隔振模拟实验平台上的主动隔振实验研究。
隔振器件是主被动复合隔振系统的关键组成部分。本文结合现有隔振理论的研究成果,提出了一种电磁式主被动复合隔振器的基本设计原则。在此基础上,以某型隔振器的设计为例,对单级被动隔振系统的特性进行了分析,并分析了引入主动隔振对单级隔振系统特性的影响,指出：当激振频率与自然频率的比值大于临界频率比时,主动隔振不会加剧隔振对象的振动,甚至在自然频率附近对隔振对象的振动还有明显的抑制作用。进而提出了一种根据动力设备负载质量,激振频段下限频率值以及临界频率比设计主被动复合隔振系统的方法,完成了主被动复合隔振器主、被动环节的设计工作。
在电磁作动单元的设计上,本文采用磁路分析方法给出了匀强磁场假设下电磁作动单元的解析模型,通过Ansoft仿真分析并结合作动器设计制作经验,给出了电磁作动单元解析模型的适用范围。在此基础上,提出了主被动复合式隔振器电磁作动单元的设计指标及步骤。根据设计步骤,给出了使得作动器重量最小时电磁作动单元的尺寸。之后,分析了线圈时间常数对作动器性能的影响,讨论了在线圈匝数一定的情况下,线圈厚度与电磁铁重量、空心线圈时间常数之间的关系,并引入电流环矫正技术加以补偿。最后,对隔振器样机进行了电磁力实验建模,结果表明电磁作动器的性能达到了设计目标。
目前,应用最广泛的简谐振动主动控制方法是基于FXLMS算法的自适应前馈控制算法,但是这种算法的应用需要对次级通道建模,这增加了系统实现的复杂度,且建模误差可能导致算法发散。为此,本文结合FXLMS算法和LMS算法的几何分析结果,改进了一种无需建立次级通道模型的LMS控制算法。分析了该算法直接用于多频振动控制可能存在的不足,将算法拓展到了多频振动控制的情形。
振动主动控制中内部反馈通道的存在使得自适应滤波器的参考信号变得不稳定,在这种情况下自适应滤波器采用FIR结构是有问题的,算法的稳定性难以保证。为此,引入了同时具有零点和极点滤波器结构的FULMS算法,将其推广到了不考虑次级通道模型的情况,给出了无需建立次级通道模型的IIR-LMS算法,结合Ljung提出的常微分方程方法分析了算法的收敛性能,给出了内部反馈存在与否时算法的稳定性条件,并以隔振模拟实验平台为对象进行了仿真验证。
本文引入了一种同时具有零点和极点的全反馈型滤波器结构,推导了无需次级通道建模的全反馈IIR-LMS算法,并将其与一般的IIR-LMS算法进行了仿真比较；将全反馈IIR-LMS算法移植到需要建立次级通道模型的情况,给出了全反馈滤FULMS算法；分析了FXLMS、FULMS以及全反馈FULMS算法中算子次序交换的影响,给出了交换误差的定义,通过估计交换误差的方法对全反馈FULMS算法进行修正,提出了基于交换误差的全反馈FULMS算法,并将修正算法与原算法进行了仿真比较。
本文以典型隔振系统为对象,对几种传统的隔振性能评价指标,如力传递率、插入损失、振级落差、功率流等进行了分析比较,总结指出了各项传统隔振性能指标适用范围和优缺点。采用理论分析和数值模拟的方法研究了各种传统性能指标与隔振器理论设计指标之间的关系。在此基础上,提出了一种可操作性好,能够反映被动隔振和主动隔振对不同频段减振的贡献以及两者之间的相互影响的主被动复合隔振性能指标。最后,根据隔振模拟实验系统的构建情况对主被动复合隔振评价方法作了简化,使得该评价方法更为简便易行,利于工程实现。
建立了一套隔振模拟实验系统,以电磁式主被动复合隔振器作为执行机构,设计了适用于电磁式主被动复合隔振器主动隔振控制律,采用改进的无需次级通道建模的LMS控制算法、多通道解耦控制算法以及无需次级通道建模IIR-LMS控制算法进行了振动主动控制实验。实验结果表明：本文研究的振动主动控制方法可以显著地提高隔振模拟实验系统在实验频段内的减振能力。
Along with the advances in modern science and technology, high requirement on vibration environment has been put forward in more and more fields. Vibration control technology is drawing increasing attention in modern production and life, and there has been plentiful and substantial achievements in this filed. It can be applied in seismic design of building structures, vibration and noise reduction of of the ship machinery structure, structural vibration control in aerospace, stabilization control of precision machinery, instruments and platform or ride comfort improvement of vehicle traffic tools etc. Traditional passive vibration isolation technology has a good high frequency vibration isolation effect, but the low frequency effect is not ideal. So it is unable to meet the requirements of high damping performance.
In view of this situation, research in this dissertation is focused on how to design and control an electromagnetic active-passive composite isolator, combined with the advantages of active and passive vibration isolation, for which the vibration and noise reduction of underwater quiet type vehicle is a pratical example. The following contents are included:design and implement of electromagnetic active-passive composite isolator, design of adaptive feedforward controller based on FIR filter, design of adaptive feedforward controller when acoustic feedback exists, study on active-passive composite vibration isolation effect evaluation methods and active vibration control experiments on the experimental platform.
Vibration isolation device is the key component of active-passive composite vibration isolation system. The basic design principles of an electromagnetic active-passive composite vibration isolator that combined with the existing vibration isolation theory are proposed. On the basis of these principles, the design process of an isolator is carried out. Characteristics on passive vibration isolation system and the influence of introducing active vibration isolation into vibration isolation system are analyzed in this dissertation. It is pointed out that when the ratio of excitation frequency and natural frequency is greater than the critical frequency ratio, the introduction of active vibration isolation will not exacerbate vibration of isolation object, even that the vibration amplitude will be inhibited near natural frequency. Then, a design method of active-passive composite isolation system based on the quality of power equipment, the lower frequency value of vibration frequency and the critical frequency ratio is derived. Finally, the active and passive links of an active-passive composite isolatior are designed.
The analytic model of electromagnetic suspension element is presented under the assumption of uniform magnetic field, and its application filed is concluded based on the Ansoft simulation results and the design experience. Then, the design requirements and steps of an active-passive composite isolator electromagnetic actuating element are derived. According to the design steps, the electromagnetic actuating element is designed under the restriction of minimizing quality. Considering the influence of coil time constant on the actuator performance, relationship in the thickness of coil, the weight of electromagnet element and the time constant of coil is derived, and the current loop correction technology is introduced. Finally, the electromagnetic force model of the novel isolator is established, which shows that electromagnetic actuator can reach the design object.
At present, the filtered-x LMS algorithm is the most common algorithm applied in harmonic vibration active control due to its ease of implementation. Most available active noise control algorithms, including the filtered-x LMS algorithm, require identification of the secondary path. It can cause several problems to the control system:1) it increases the complexity of the control system implementation;2) errors in identifying the secondary path may cause the adaptive algorithm to diverge. Combine with the geometric analysis of filtered x-LMS algorithm and LMS algorithm, a modified LMS algorithm that requires no secondary path identification is put forward. Finally, the shortage that the algorithm used for multi frequency vibration control is analysised, and the algorithm is expanded by utilizing multiple parallel adaptive filters.
The reference signal for the adaptive filter can become unstable when acoustic feedback exists. The adaptive FIR filter can't be used in this case, because it is difficult to guarantee the stability of the algorithm. The filtered-U LMS algorithm which has both zeros and poles is introduced to address the problem of acoustic feedback, then a modified algorithm namely the IIR-LMS algorithm that requires no secondary path identification is proposed. The ODE method is used to study the asymptotic behavior of the IIR-LMS algorithm, considering general stationary disturbances and with/without acoustic feedback. Finally, the IIR-LMS algorithm shows good performance in simulation experiment.
A "full-feedback" structure with both zeros and poles is introduced into adaptive IIR filter. The full-feedback IIR-LMS algorithm are proposed and compared with the general IIR-LMS algorithm, and then the full-feedback filter-U LMS algorithm is derived. A commutation error (CE) that results from a difference associated with the altered sequence in real active noise control (ANC) applications as compared with that at the derivation stage is considered. A new adaptive algorithm is developed as full-feedback filtered-U LMS/CE in an aim to eliminate the CE-associated disturbance and to liberate the restriction of slow adaptation imposed on the existing adaptive algorithms in the ANC applications. Computer simulations show that the performance of convergence is improved for the new adaptive algorithm as compared with that of the conventional algorithm.
Several traditional isolation performance indices, such as force transmissibility, insertion loss, vibration level difference, power flow, are summarized on a typical isolation system. The relationship between traditional performance indices and theory design targets of the isolator is study through theoretical analysis and numerical simulation. Then, a new performance index for active-passive composite isolator, which is based on the correction of vibration level difference, is proposed. It can reflect contributions of the passive vibration isolation and active vibration isolation in different frequency bands as well as the interation between the two indices. Finally, the new performance index is simplified according to the vibration isolation simulation experiment system, so that it is simple for engineering realization.
At the end of this dissertation, a vibration isolation simulation experiment system, for which the electromagnetic active-passive composite isolator is the actuator, is established. Then, active vibration control experiments, for which the modified LMS algorithm that requires no secondary path identification, the multi channel decoupling control algorithm and the IIR-LMS algorithm that requires no secondary path identification are used, are carried out. Experiment results demonstrate that that the damping effect of vibration isolation simulation experiment system in experimental frequency band is significantly improved by active vibration control methods proposed in this paper.
针对这一现状,本文以水下安静型航行器的减振降噪为主要实际背景,结合主、被动隔振各自的优点,开展了电磁式主被动复合隔振器的设计及其控制策略的研究工作。主要包括以下几个方面：电磁式主被动复合隔振器的设计与实现,基于FIR滤波器的自适应前馈控制律设计,考虑内部反馈下的自适应前馈控制律设计,主被动复合隔振性能评价方法研究以及在隔振模拟实验平台上的主动隔振实验研究。
隔振器件是主被动复合隔振系统的关键组成部分。本文结合现有隔振理论的研究成果,提出了一种电磁式主被动复合隔振器的基本设计原则。在此基础上,以某型隔振器的设计为例,对单级被动隔振系统的特性进行了分析,并分析了引入主动隔振对单级隔振系统特性的影响,指出：当激振频率与自然频率的比值大于临界频率比时,主动隔振不会加剧隔振对象的振动,甚至在自然频率附近对隔振对象的振动还有明显的抑制作用。进而提出了一种根据动力设备负载质量,激振频段下限频率值以及临界频率比设计主被动复合隔振系统的方法,完成了主被动复合隔振器主、被动环节的设计工作。
在电磁作动单元的设计上,本文采用磁路分析方法给出了匀强磁场假设下电磁作动单元的解析模型,通过Ansoft仿真分析并结合作动器设计制作经验,给出了电磁作动单元解析模型的适用范围。在此基础上,提出了主被动复合式隔振器电磁作动单元的设计指标及步骤。根据设计步骤,给出了使得作动器重量最小时电磁作动单元的尺寸。之后,分析了线圈时间常数对作动器性能的影响,讨论了在线圈匝数一定的情况下,线圈厚度与电磁铁重量、空心线圈时间常数之间的关系,并引入电流环矫正技术加以补偿。最后,对隔振器样机进行了电磁力实验建模,结果表明电磁作动器的性能达到了设计目标。
目前,应用最广泛的简谐振动主动控制方法是基于FXLMS算法的自适应前馈控制算法,但是这种算法的应用需要对次级通道建模,这增加了系统实现的复杂度,且建模误差可能导致算法发散。为此,本文结合FXLMS算法和LMS算法的几何分析结果,改进了一种无需建立次级通道模型的LMS控制算法。分析了该算法直接用于多频振动控制可能存在的不足,将算法拓展到了多频振动控制的情形。
振动主动控制中内部反馈通道的存在使得自适应滤波器的参考信号变得不稳定,在这种情况下自适应滤波器采用FIR结构是有问题的,算法的稳定性难以保证。为此,引入了同时具有零点和极点滤波器结构的FULMS算法,将其推广到了不考虑次级通道模型的情况,给出了无需建立次级通道模型的IIR-LMS算法,结合Ljung提出的常微分方程方法分析了算法的收敛性能,给出了内部反馈存在与否时算法的稳定性条件,并以隔振模拟实验平台为对象进行了仿真验证。
本文引入了一种同时具有零点和极点的全反馈型滤波器结构,推导了无需次级通道建模的全反馈IIR-LMS算法,并将其与一般的IIR-LMS算法进行了仿真比较；将全反馈IIR-LMS算法移植到需要建立次级通道模型的情况,给出了全反馈滤FULMS算法；分析了FXLMS、FULMS以及全反馈FULMS算法中算子次序交换的影响,给出了交换误差的定义,通过估计交换误差的方法对全反馈FULMS算法进行修正,提出了基于交换误差的全反馈FULMS算法,并将修正算法与原算法进行了仿真比较。
本文以典型隔振系统为对象,对几种传统的隔振性能评价指标,如力传递率、插入损失、振级落差、功率流等进行了分析比较,总结指出了各项传统隔振性能指标适用范围和优缺点。采用理论分析和数值模拟的方法研究了各种传统性能指标与隔振器理论设计指标之间的关系。在此基础上,提出了一种可操作性好,能够反映被动隔振和主动隔振对不同频段减振的贡献以及两者之间的相互影响的主被动复合隔振性能指标。最后,根据隔振模拟实验系统的构建情况对主被动复合隔振评价方法作了简化,使得该评价方法更为简便易行,利于工程实现。
建立了一套隔振模拟实验系统,以电磁式主被动复合隔振器作为执行机构,设计了适用于电磁式主被动复合隔振器主动隔振控制律,采用改进的无需次级通道建模的LMS控制算法、多通道解耦控制算法以及无需次级通道建模IIR-LMS控制算法进行了振动主动控制实验。实验结果表明：本文研究的振动主动控制方法可以显著地提高隔振模拟实验系统在实验频段内的减振能力。
Along with the advances in modern science and technology, high requirement on vibration environment has been put forward in more and more fields. Vibration control technology is drawing increasing attention in modern production and life, and there has been plentiful and substantial achievements in this filed. It can be applied in seismic design of building structures, vibration and noise reduction of of the ship machinery structure, structural vibration control in aerospace, stabilization control of precision machinery, instruments and platform or ride comfort improvement of vehicle traffic tools etc. Traditional passive vibration isolation technology has a good high frequency vibration isolation effect, but the low frequency effect is not ideal. So it is unable to meet the requirements of high damping performance.
In view of this situation, research in this dissertation is focused on how to design and control an electromagnetic active-passive composite isolator, combined with the advantages of active and passive vibration isolation, for which the vibration and noise reduction of underwater quiet type vehicle is a pratical example. The following contents are included:design and implement of electromagnetic active-passive composite isolator, design of adaptive feedforward controller based on FIR filter, design of adaptive feedforward controller when acoustic feedback exists, study on active-passive composite vibration isolation effect evaluation methods and active vibration control experiments on the experimental platform.
Vibration isolation device is the key component of active-passive composite vibration isolation system. The basic design principles of an electromagnetic active-passive composite vibration isolator that combined with the existing vibration isolation theory are proposed. On the basis of these principles, the design process of an isolator is carried out. Characteristics on passive vibration isolation system and the influence of introducing active vibration isolation into vibration isolation system are analyzed in this dissertation. It is pointed out that when the ratio of excitation frequency and natural frequency is greater than the critical frequency ratio, the introduction of active vibration isolation will not exacerbate vibration of isolation object, even that the vibration amplitude will be inhibited near natural frequency. Then, a design method of active-passive composite isolation system based on the quality of power equipment, the lower frequency value of vibration frequency and the critical frequency ratio is derived. Finally, the active and passive links of an active-passive composite isolatior are designed.
The analytic model of electromagnetic suspension element is presented under the assumption of uniform magnetic field, and its application filed is concluded based on the Ansoft simulation results and the design experience. Then, the design requirements and steps of an active-passive composite isolator electromagnetic actuating element are derived. According to the design steps, the electromagnetic actuating element is designed under the restriction of minimizing quality. Considering the influence of coil time constant on the actuator performance, relationship in the thickness of coil, the weight of electromagnet element and the time constant of coil is derived, and the current loop correction technology is introduced. Finally, the electromagnetic force model of the novel isolator is established, which shows that electromagnetic actuator can reach the design object.
At present, the filtered-x LMS algorithm is the most common algorithm applied in harmonic vibration active control due to its ease of implementation. Most available active noise control algorithms, including the filtered-x LMS algorithm, require identification of the secondary path. It can cause several problems to the control system:1) it increases the complexity of the control system implementation;2) errors in identifying the secondary path may cause the adaptive algorithm to diverge. Combine with the geometric analysis of filtered x-LMS algorithm and LMS algorithm, a modified LMS algorithm that requires no secondary path identification is put forward. Finally, the shortage that the algorithm used for multi frequency vibration control is analysised, and the algorithm is expanded by utilizing multiple parallel adaptive filters.
The reference signal for the adaptive filter can become unstable when acoustic feedback exists. The adaptive FIR filter can't be used in this case, because it is difficult to guarantee the stability of the algorithm. The filtered-U LMS algorithm which has both zeros and poles is introduced to address the problem of acoustic feedback, then a modified algorithm namely the IIR-LMS algorithm that requires no secondary path identification is proposed. The ODE method is used to study the asymptotic behavior of the IIR-LMS algorithm, considering general stationary disturbances and with/without acoustic feedback. Finally, the IIR-LMS algorithm shows good performance in simulation experiment.
A "full-feedback" structure with both zeros and poles is introduced into adaptive IIR filter. The full-feedback IIR-LMS algorithm are proposed and compared with the general IIR-LMS algorithm, and then the full-feedback filter-U LMS algorithm is derived. A commutation error (CE) that results from a difference associated with the altered sequence in real active noise control (ANC) applications as compared with that at the derivation stage is considered. A new adaptive algorithm is developed as full-feedback filtered-U LMS/CE in an aim to eliminate the CE-associated disturbance and to liberate the restriction of slow adaptation imposed on the existing adaptive algorithms in the ANC applications. Computer simulations show that the performance of convergence is improved for the new adaptive algorithm as compared with that of the conventional algorithm.
Several traditional isolation performance indices, such as force transmissibility, insertion loss, vibration level difference, power flow, are summarized on a typical isolation system. The relationship between traditional performance indices and theory design targets of the isolator is study through theoretical analysis and numerical simulation. Then, a new performance index for active-passive composite isolator, which is based on the correction of vibration level difference, is proposed. It can reflect contributions of the passive vibration isolation and active vibration isolation in different frequency bands as well as the interation between the two indices. Finally, the new performance index is simplified according to the vibration isolation simulation experiment system, so that it is simple for engineering realization.
At the end of this dissertation, a vibration isolation simulation experiment system, for which the electromagnetic active-passive composite isolator is the actuator, is established. Then, active vibration control experiments, for which the modified LMS algorithm that requires no secondary path identification, the multi channel decoupling control algorithm and the IIR-LMS algorithm that requires no secondary path identification are used, are carried out. Experiment results demonstrate that that the damping effect of vibration isolation simulation experiment system in experimental frequency band is significantly improved by active vibration control methods proposed in this paper.
引文
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