含滞回非线性作动器的隔振系统研究
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摘要
隔振控制是振动控制一个重要分支,隔振控制理论与技术日趋成熟并得到了广泛应用。近年来,随着隔振控制要求的提高以及新型作动器的出现,作动器动态特性及非线性问题给控制器设计与综合所带来的困难与挑战已开始被国内外学者所重视,其中滞回非线性是最为棘手的一类非线性。本论文在国家自然科学基金(10472073)“含可控滞后元件非线性系统动力学行为控制研究”和河北省自然科学基金(E2005000507)“基于可控滞后元件振动控制系统的鲁棒稳定性与非线性行为控制”支持下,以基于磁流变阻尼器的半主动隔振系统和基于电磁作动器的主动隔振系统为例,重点考虑到作动器动态特性及滞回非线性,对隔振控制若干问题进行了初步探讨。论文的主要工作及学术贡献有:
1、设计了作动器性能实验系统,对作动器动态特性及滞回非线性进行了实验研究。其中,对磁流变阻尼器实验结果分析表明,阻尼力不仅与相对速度的幅值与频率有关,也与励磁电流的幅值与频率有关;对电磁作动器实验结果分析表明,实际电磁系统的电磁力与励磁电流、气隙之间的静态关系并非遵循电磁力理论计算公式给出的理想模式,电磁力与励磁电流之间存在明显的率不相关滞回现象,而电磁力与气隙之间的滞回关系不明显。
2、在文献研究及实验分析基础上,对磁流变阻尼器提出了一种机电耦合模型,介绍了建模思路、给出了模型参数确定方法;该模型的主要特点是把机械响应与电磁响应动态过程与阻尼力分离表示,并与近似光滑表示的Bingham模型相耦合,模型不显含位移变量。考虑到电磁作动器的动态特性与滞回非线性,研究了双向电磁作动器滞回非线性的一种不确定性描述模型;完整的电磁作动器模型是由励磁动态模型和电磁力滞回非线性模型耦合而成。
3、研究了基于磁流变阻尼器半主动隔振系统若干开关控制策略,并对隔振系统在各种开关策略下的隔振效果进行了仿真对比,指出了各开关策略的特点及适用性。另外,针对采样控制引起的时滞,研究了时滞补偿技术,并对开关策略进行了改进,仿真分析了时滞补偿策略的有效性。
4、对基于电磁作动器的主动隔振系统进行了滑模控制研究。分别采用了两种用来描述电磁作动器滞回非线性的模型,其一是作者提出的滞回非线性的不确定性描述模型,其二是Bouc-Wen模型;研究了隔振系统滑模控制率,并对系统瞬态振动和持续振动的隔离效果进行了仿真分析。
5、研制了磁流变阻尼器隔振模拟实验系统,编写了相关测控软件,进行了半主动开关控制策略的实时控制实验研究,测试了采样率对隔振效果的影响。实验分析表明,开关策略在系统共振频率点附近隔振效果显著,在较高频率段,隔振效果不及被动控制;当采样频率过低时,隔振效果变差,高频段恶化较明显。定性趋势与计算机数值仿真结果一致。
Vibration isolation control is an important research branch of vibration control,and is widely applied in many areas.Recently,with the higher requirement for isolation control specifications and introduction of novel actuators,researchers have already recognized the difficulty and challenge of the problems resulting from dynamic and nonlinear characteristic of actuators when design and synthetize the controller.Among nonlinearities,hysteresis is the most mathematically intractable one.The dissertation is partially supported by the National Natural Science Foundation of China(No.10472073, Dynamic behaviors control for systems embeded with controllable hysteretic elements) and the Natural Science Foundation of Hebei Province(No.E2005000507,Robust stability and dynamic behaviors control for vibration control systems with controllable hysteretic elements).Two vibration isolation systems with hysteretic actuator are taken as the research cases,one is the semi-active vibration isolation system with Magneto-rheological(MR) damper,the other is the active vibration isolation system with electromagnetic actuator.The focus of this dissertation is on the hysteresis of the actuator and the main contributions of this work are as follows:
1.Experimental systems for testing the actuators are designed and set up.For MR damper,the tests have shown that,the damping force depends not only on the amplitude and frequency of the relative velocity,but also on the amplitude and frequency of the excitation current.For electromagnetic actuator,the practical static relationship between electromagnetic force and the related factors such as the excitation current,the air gap is not strictly in line with the theoretical mode.There exists significant rate-independent hysteresis between the electromagnetic force and the excitation current.The hysteresis between the electromagnetic force and the air gap is weak.
2.On the basis of inquiring the relevant literatures and the experimental results,an electro-mechanical coupled model for MR damper is presented,which is based on a novel modeling idea considering a damper together with control device,and with electromagnetic rheological response and mechanical response separately denoted.An approximate smooth representation for Bingham model is investigated,with a sigmoid function as a substitution for the piece-wise function.For electromagnetic actuator,in order to demonstrate the hysteresis and easy to treat in following control issues,an undetermined description model is proposed.The model for bidirectional electromagnetic actuator is resulted from coupling the dynamic model of excition process with the electromagnetic forces hysteresis.
3.Several semi-active(SA) switch policies for vibration isolation system with MR damper are investigated,and simulations to examine the effectiveness performed. Additionally,a time delay compensation method to weaken the adverse influence on the performance with basic switch policies is introduced,which is examined by simulation.
4.Sliding mode control for active vibration isolation system with electromagnetic actuator is studied.In determing the sliding mode control law,two models for the bidirectional electromagnetic actuator are employed,one is the author proposed model, the other is the Bouc-Wen model.Simulations show that,short time excitation through the isolation system can be perfectly isolated with the proposed sliding mode control law,while for continuously excitation,the vibration cann't be fully suppressed.
5.A SA isolation system with MR damper for experimental purpose is designed and fabricated.Performance.under the switch control policies and the effects resulting from the sampling rate are investigated.Experimentals show that,the performance of SA switch policies show significant advantage over that of the passive control near resonance,while,in the higher frequency range,the switch policies function poorer. Additionally,the smaller the sampling rate is,the poorer the isolation performance of the SA swich control.These qualitative trend conclusions are in accordance with what we got from simulations.
1、设计了作动器性能实验系统,对作动器动态特性及滞回非线性进行了实验研究。其中,对磁流变阻尼器实验结果分析表明,阻尼力不仅与相对速度的幅值与频率有关,也与励磁电流的幅值与频率有关;对电磁作动器实验结果分析表明,实际电磁系统的电磁力与励磁电流、气隙之间的静态关系并非遵循电磁力理论计算公式给出的理想模式,电磁力与励磁电流之间存在明显的率不相关滞回现象,而电磁力与气隙之间的滞回关系不明显。
2、在文献研究及实验分析基础上,对磁流变阻尼器提出了一种机电耦合模型,介绍了建模思路、给出了模型参数确定方法;该模型的主要特点是把机械响应与电磁响应动态过程与阻尼力分离表示,并与近似光滑表示的Bingham模型相耦合,模型不显含位移变量。考虑到电磁作动器的动态特性与滞回非线性,研究了双向电磁作动器滞回非线性的一种不确定性描述模型;完整的电磁作动器模型是由励磁动态模型和电磁力滞回非线性模型耦合而成。
3、研究了基于磁流变阻尼器半主动隔振系统若干开关控制策略,并对隔振系统在各种开关策略下的隔振效果进行了仿真对比,指出了各开关策略的特点及适用性。另外,针对采样控制引起的时滞,研究了时滞补偿技术,并对开关策略进行了改进,仿真分析了时滞补偿策略的有效性。
4、对基于电磁作动器的主动隔振系统进行了滑模控制研究。分别采用了两种用来描述电磁作动器滞回非线性的模型,其一是作者提出的滞回非线性的不确定性描述模型,其二是Bouc-Wen模型;研究了隔振系统滑模控制率,并对系统瞬态振动和持续振动的隔离效果进行了仿真分析。
5、研制了磁流变阻尼器隔振模拟实验系统,编写了相关测控软件,进行了半主动开关控制策略的实时控制实验研究,测试了采样率对隔振效果的影响。实验分析表明,开关策略在系统共振频率点附近隔振效果显著,在较高频率段,隔振效果不及被动控制;当采样频率过低时,隔振效果变差,高频段恶化较明显。定性趋势与计算机数值仿真结果一致。
Vibration isolation control is an important research branch of vibration control,and is widely applied in many areas.Recently,with the higher requirement for isolation control specifications and introduction of novel actuators,researchers have already recognized the difficulty and challenge of the problems resulting from dynamic and nonlinear characteristic of actuators when design and synthetize the controller.Among nonlinearities,hysteresis is the most mathematically intractable one.The dissertation is partially supported by the National Natural Science Foundation of China(No.10472073, Dynamic behaviors control for systems embeded with controllable hysteretic elements) and the Natural Science Foundation of Hebei Province(No.E2005000507,Robust stability and dynamic behaviors control for vibration control systems with controllable hysteretic elements).Two vibration isolation systems with hysteretic actuator are taken as the research cases,one is the semi-active vibration isolation system with Magneto-rheological(MR) damper,the other is the active vibration isolation system with electromagnetic actuator.The focus of this dissertation is on the hysteresis of the actuator and the main contributions of this work are as follows:
1.Experimental systems for testing the actuators are designed and set up.For MR damper,the tests have shown that,the damping force depends not only on the amplitude and frequency of the relative velocity,but also on the amplitude and frequency of the excitation current.For electromagnetic actuator,the practical static relationship between electromagnetic force and the related factors such as the excitation current,the air gap is not strictly in line with the theoretical mode.There exists significant rate-independent hysteresis between the electromagnetic force and the excitation current.The hysteresis between the electromagnetic force and the air gap is weak.
2.On the basis of inquiring the relevant literatures and the experimental results,an electro-mechanical coupled model for MR damper is presented,which is based on a novel modeling idea considering a damper together with control device,and with electromagnetic rheological response and mechanical response separately denoted.An approximate smooth representation for Bingham model is investigated,with a sigmoid function as a substitution for the piece-wise function.For electromagnetic actuator,in order to demonstrate the hysteresis and easy to treat in following control issues,an undetermined description model is proposed.The model for bidirectional electromagnetic actuator is resulted from coupling the dynamic model of excition process with the electromagnetic forces hysteresis.
3.Several semi-active(SA) switch policies for vibration isolation system with MR damper are investigated,and simulations to examine the effectiveness performed. Additionally,a time delay compensation method to weaken the adverse influence on the performance with basic switch policies is introduced,which is examined by simulation.
4.Sliding mode control for active vibration isolation system with electromagnetic actuator is studied.In determing the sliding mode control law,two models for the bidirectional electromagnetic actuator are employed,one is the author proposed model, the other is the Bouc-Wen model.Simulations show that,short time excitation through the isolation system can be perfectly isolated with the proposed sliding mode control law,while for continuously excitation,the vibration cann't be fully suppressed.
5.A SA isolation system with MR damper for experimental purpose is designed and fabricated.Performance.under the switch control policies and the effects resulting from the sampling rate are investigated.Experimentals show that,the performance of SA switch policies show significant advantage over that of the passive control near resonance,while,in the higher frequency range,the switch policies function poorer. Additionally,the smaller the sampling rate is,the poorer the isolation performance of the SA swich control.These qualitative trend conclusions are in accordance with what we got from simulations.
引文
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