基于模糊控制的振动主动控制技术研究
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摘要
模糊控制作为一种非线性的智能控制技术，由于其独特的优点，近年来在理论和工业实践中得到了广泛的发展和应用。本文以舰船柴油机双层隔振系统为对象，将模糊控制技术和振动控制技术相结合，给出了模糊控制隔振系统的结构及设计方法，对基于模糊控制的振动主动控制技术进行了理论和试验研究。
针对双层隔振模拟试验台架的振动特点，建立了控制系统数学模型，设计了一种模糊控制器，提出适用于振动主动控制的模糊控制规则，进行了双层隔振模拟实验台架垂直方向的仿真研究。研究结果表明，所采用的模糊逻辑控制方法对于周期和柴油机振动信号均有较好的控制效果。讨论了量化因子的选择对控制效果的影响。
将参数自校正模糊控制方法引入双层隔振系统，通过在线整定量化因子。这种控制方法较之常规的固定量化因子的模糊控制方法，对环境的变化有较强的自适应能力。在双层隔振台架的数学模型上进行自适应模糊控制的仿真研究，仿真结果表明自适应模糊算法对主动隔振系统具有良好的控制效果。
本文还针对柴油机双层隔振模拟试验台架，进行了常规模糊主动控制方法的试验研究。结果表明，该控制方法具有一定的控制效果，证明了此方法的合理、有效性。
As a nonlinear intelligent control technique, with its special advantages fuzzy control has got extensive development and application in theory and industrial practices. In this paper, the marine diesel two-stage vibration isolation system is studied as the primary object. The technique of fuzzy control and the active control are combined, and the structure and the design of the vibration isolation system based on fuzzy control are given. The active vibration control technique based on fuzzy control is studied in theory and experiment.
According to the characteristics of the two-stage vibration isolation test-bed, the control system model is made, and a fuzzy controller is designed, and the fuzzy control rules for the active control are introduced, and the simulation investigation of the two-stage vibration isolation test-bed in the vertical is effective to periodic and diesel vibration signal. In this paper, the effect between the choice of scaling gains and the control result is discussed.
The method of adjusting parameter of fuzzy control automatically is introduced into two-stage vibration isolation, and the scaling gains are revised online. This control stratagem is more adaptive to circumstance than normal fuzzy control which scaling gains are staid. The simulation of adaptive fuzzy control is made on the model two-stage vibration isolation. Results verify that adaptive fuzzy control method is effective to the active vibration isolation system.
In this paper, according to diesel two-stage vibration isolation test-bed, the experiment investigation based on normal fuzzy active control is made. Results verify that this control stratagem has some control results and this stratagem is correct and effective.
针对双层隔振模拟试验台架的振动特点，建立了控制系统数学模型，设计了一种模糊控制器，提出适用于振动主动控制的模糊控制规则，进行了双层隔振模拟实验台架垂直方向的仿真研究。研究结果表明，所采用的模糊逻辑控制方法对于周期和柴油机振动信号均有较好的控制效果。讨论了量化因子的选择对控制效果的影响。
将参数自校正模糊控制方法引入双层隔振系统，通过在线整定量化因子。这种控制方法较之常规的固定量化因子的模糊控制方法，对环境的变化有较强的自适应能力。在双层隔振台架的数学模型上进行自适应模糊控制的仿真研究，仿真结果表明自适应模糊算法对主动隔振系统具有良好的控制效果。
本文还针对柴油机双层隔振模拟试验台架，进行了常规模糊主动控制方法的试验研究。结果表明，该控制方法具有一定的控制效果，证明了此方法的合理、有效性。
As a nonlinear intelligent control technique, with its special advantages fuzzy control has got extensive development and application in theory and industrial practices. In this paper, the marine diesel two-stage vibration isolation system is studied as the primary object. The technique of fuzzy control and the active control are combined, and the structure and the design of the vibration isolation system based on fuzzy control are given. The active vibration control technique based on fuzzy control is studied in theory and experiment.
According to the characteristics of the two-stage vibration isolation test-bed, the control system model is made, and a fuzzy controller is designed, and the fuzzy control rules for the active control are introduced, and the simulation investigation of the two-stage vibration isolation test-bed in the vertical is effective to periodic and diesel vibration signal. In this paper, the effect between the choice of scaling gains and the control result is discussed.
The method of adjusting parameter of fuzzy control automatically is introduced into two-stage vibration isolation, and the scaling gains are revised online. This control stratagem is more adaptive to circumstance than normal fuzzy control which scaling gains are staid. The simulation of adaptive fuzzy control is made on the model two-stage vibration isolation. Results verify that adaptive fuzzy control method is effective to the active vibration isolation system.
In this paper, according to diesel two-stage vibration isolation test-bed, the experiment investigation based on normal fuzzy active control is made. Results verify that this control stratagem has some control results and this stratagem is correct and effective.
引文
[1] 施引，朱石坚，何琳．船舶动力机械噪声及其控制评述。北京：国防工业出版社，1990
[2] 刘志刚．柴油机振动自适应有源隔离技术研究．哈尔滨工程大学博士学位论文．2000：1-10页，22-25页，76-78页
[3] 顾仲权，马扣根，陈卫东．振动主动控制．北京：国防工业出版社，1992：1-9页
[4] 李正果，付鲁化．内燃机振动的隔离．小型内燃机，1997，26(6)
[5] 芮庆．车辆振动模糊控制的仿真研究．噪声与振动控制．1997，6(3)
[6] Hidekazu NISHIMURA. Akihito KOJIMA, Active Vibration Isolation Control for a Multi-Degree-of-Freedoom Structure with Uncertain Base Dynamics, JSME International Journal Series C, Vol.41, NO.1, 1998
[7] 刘华．基于神经网络的振动智能控制理论、方法及实验研究．天津大学博士论文．1995
[8] N.C. Singer, W. P. ASME J of Dynamic System, Mea and Control, 1990, 112(1):79-90P
[9] K.S. Rattan, V. Feliu. Feedforward Control of Flexible Manipulators, Proc. of the 1992 IEEE Int. Conf. on Robotics and Automation, Nice, France, 1992:788-793P
[10] D.P. Magee, W.J. Book. Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration, Proc. of the 1986 AIAA Aerospace Sciences Meeting, Reno, NV, 1986
[11] Luo Fei, et al.. A Method to Reduce Vibration in Pegand Hole Task: Force Control Compensated by Position, Proc. of the 31st SICE Annual Conf. Int. Session, Kumamo to, Japan, 1992: 1107-1110P
[12] Masashi Yamashita, et al. Application of H_∞ Control to
Active Suspension Systems, Automatic, 1994:30(11)
[13] 谭善光，汪希宣．结构受迫振动最优相应和模态主动控制，振动工程学报，Vol．2，NO．4，Dec，1989：76-81页
[14] 孙朝晖，王冲．结构振动主动控制理论及试验研究，振动工程学报，Vol．7，NO．2，Jun，1994：154-160页
[15] 马扣根，顾仲权．结构振动主动控制技术的现状与发展趋向．南京航空学院学报．1991，23(2)：97-108页
[16] 张洪田．船舶柴油机动力装置振动主动控制技术研究．哈尔滨工程大学博士论文，1998
[17] 陈无畏等．汽车主动悬架的最优控制及计算机仿真．振动与冲击，Vol．15，No．4，1996
[18] 刘新亮等．汽车主动悬架的非线性控制．汽车工程，Vol．19，No．3，1997
[19] 王志君．基于神经网络的汽车主动悬架控制研究．合肥工业大学研究生学位论文，1998：1-18页，46-63页
[20] 欧阳光耀，施引．用磁致伸缩作动器进行主动隔振的研究．噪声与振动控制，1997年8月第4期
[21] 刘志刚，王芝秋等．中国船舶科技报告．有源控制在柴油机振动噪声中的应用．哈尔滨工程大学．1995
[22] 黄金娥．基于神经网络的振动主动控制技术的研究．哈尔滨工程大学硕士论文．2000
[23] K. Mitsuhashi, et al. Application of Active Vibration Isolation System to Diesel Engine Mounting, 18th International Congress on Combustion Engine, Diesel Engine Volume, 1989
[24] 刘曙光，魏俊明，竺志超．模糊控制技术．北京：中国纺织出版社，2001，1-16页，154-201页
[25] 窦振中．模糊逻辑技术极其应用．北京：北京航空航天大学出版社，1995
[26] 余永权，曾碧．单片机模糊逻辑控制．北京：北京航空航天大学出版，1995，21-65页，98-120页
[27] 章卫国，扬向忠．模糊控制理论与应用．西北工业大学出版
社，1999，108-145页
[28] 王立新．自适应模糊系统与控制．北京：国防工业出版社，1995，122-124页，210-232页
[29] Zadeh L A. A theory of approximating reasoning, in Machine Intelligence, eds. Hayes JE, Michie D and Mikulich L I,New York:Elsevier, 1979,9:149-194P
[30] Zadeh L A. Syllogistic reasoning in fuzzy logic and its application to usuality and reasoning with dispositions. IEEE Trans. on Systems, Man. and Cybern, 1985, SCM-15(6):754-763P
[31] Zadeh L A. Fuzzy sets. informat, control, 1985,8:338-353P
[32] Larsen P M. Industrial application of fuzzy logic control. Int. J. Man Mach. Studies, 1980,12(1):3-10P
[33] Lee CC. Fuzzy logic control systems: fuzzy logic controller. part Ⅰ, IEEE Trans. onSyst., Man. and Cybern.,1990, SMC-20(2): 404-408P
[34] Kelly Cohen. et al. An Adaptive Fuzzy Control Algorithm for Model-Independent Active Vibration Damping of Flexible Beam-Like Structure. J. of Intelligent Material System and Structures, March, 1976,7
[35] Casciati F. et al. Application of Fuzzy to Active Structural Control. Second conf. on Smart Structures and Material. Glasgow 1994, Session 5,206-209P
[36] Kwak M. K. et al. Fuzzy-Logic based vibration suppression control experiments on active structures. Journal of Sound and Vibration, 1996,191(1)
[37] Wang L X. Adaptive Fuzzy System and Control: Design and Stability Analysis. New Jersey: PTR Prentice Hall, 1994
[38] Sugeon M. An introductory survey of fuzzy control. Information Science, 36:59-83P, 1985
[39] Karr C L. Genetic algorithm for fuzzy logic controller. AI Expert, 1991(2)
[40] M. Sugeon, et. An Experimental Study on Fuzzy Parking Control
Using a Model Car, in Industrial Application of Fuzzy Control. Amsterdam: North Holland. 1985
[41] R. M. Tong, et. Fuzzy Control of the Activated Sludge Wastlwater Treatment Process. Automat. 1980, 16(6): 695-701P
[42] 张乃尧，阎平凡．神经网络与模糊控制．北京：清华大学出版社，1998：17-22页，81-85页，119-122页
[43] 刘志刚．柴油机装置振动主动控制技术研究．中国船舶总公司科技报告，1995．
[44] 杨铁军．柴油机装置有源隔振技术研究．哈尔滨工程大学博士论文．2000：63-75页
[45] 屈文忠，丘阳等．模糊自适应滤波的主动控制方法研究．振动工程学报．第11卷第3期，2000：3
[46] 朱美玲，赵淳生，汪凤泉．非线性振动系统神经网络自适应控制方法研究．振动工程学报．Vol．9，No．3，Sep．1996
[47] 严济宽．机械振动隔离技术．上海：上海科技出版社，1986
[48] Tao CW, Taur J. Design of Fuzzy Controllers with Adaptive Rule Insertion. IEEE Trans. on Syst., Man. and Cybern.,1999, Vol.29, No. 3
[49] Wang W J, Tang B Y. A Fuzzy Adaptive Method for Intelligent Control. Exert Systems With Applications, 1999, Vol. 16, No.1
[50] Tong R M, Beck M B and Latten A. Fuzzy control of the activated sludge wastewater treatment process. Automatica, 1980,16(6): 985-701P
[51] Tong R and Chiu S. A fuzzy accelerator for a programming environment for real-time fuzzy control. Proc 2nd IFSA Congress, Tokyo, Japan (1987):147-151P
[2] 刘志刚．柴油机振动自适应有源隔离技术研究．哈尔滨工程大学博士学位论文．2000：1-10页，22-25页，76-78页
[3] 顾仲权，马扣根，陈卫东．振动主动控制．北京：国防工业出版社，1992：1-9页
[4] 李正果，付鲁化．内燃机振动的隔离．小型内燃机，1997，26(6)
[5] 芮庆．车辆振动模糊控制的仿真研究．噪声与振动控制．1997，6(3)
[6] Hidekazu NISHIMURA. Akihito KOJIMA, Active Vibration Isolation Control for a Multi-Degree-of-Freedoom Structure with Uncertain Base Dynamics, JSME International Journal Series C, Vol.41, NO.1, 1998
[7] 刘华．基于神经网络的振动智能控制理论、方法及实验研究．天津大学博士论文．1995
[8] N.C. Singer, W. P. ASME J of Dynamic System, Mea and Control, 1990, 112(1):79-90P
[9] K.S. Rattan, V. Feliu. Feedforward Control of Flexible Manipulators, Proc. of the 1992 IEEE Int. Conf. on Robotics and Automation, Nice, France, 1992:788-793P
[10] D.P. Magee, W.J. Book. Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration, Proc. of the 1986 AIAA Aerospace Sciences Meeting, Reno, NV, 1986
[11] Luo Fei, et al.. A Method to Reduce Vibration in Pegand Hole Task: Force Control Compensated by Position, Proc. of the 31st SICE Annual Conf. Int. Session, Kumamo to, Japan, 1992: 1107-1110P
[12] Masashi Yamashita, et al. Application of H_∞ Control to
Active Suspension Systems, Automatic, 1994:30(11)
[13] 谭善光，汪希宣．结构受迫振动最优相应和模态主动控制，振动工程学报，Vol．2，NO．4，Dec，1989：76-81页
[14] 孙朝晖，王冲．结构振动主动控制理论及试验研究，振动工程学报，Vol．7，NO．2，Jun，1994：154-160页
[15] 马扣根，顾仲权．结构振动主动控制技术的现状与发展趋向．南京航空学院学报．1991，23(2)：97-108页
[16] 张洪田．船舶柴油机动力装置振动主动控制技术研究．哈尔滨工程大学博士论文，1998
[17] 陈无畏等．汽车主动悬架的最优控制及计算机仿真．振动与冲击，Vol．15，No．4，1996
[18] 刘新亮等．汽车主动悬架的非线性控制．汽车工程，Vol．19，No．3，1997
[19] 王志君．基于神经网络的汽车主动悬架控制研究．合肥工业大学研究生学位论文，1998：1-18页，46-63页
[20] 欧阳光耀，施引．用磁致伸缩作动器进行主动隔振的研究．噪声与振动控制，1997年8月第4期
[21] 刘志刚，王芝秋等．中国船舶科技报告．有源控制在柴油机振动噪声中的应用．哈尔滨工程大学．1995
[22] 黄金娥．基于神经网络的振动主动控制技术的研究．哈尔滨工程大学硕士论文．2000
[23] K. Mitsuhashi, et al. Application of Active Vibration Isolation System to Diesel Engine Mounting, 18th International Congress on Combustion Engine, Diesel Engine Volume, 1989
[24] 刘曙光，魏俊明，竺志超．模糊控制技术．北京：中国纺织出版社，2001，1-16页，154-201页
[25] 窦振中．模糊逻辑技术极其应用．北京：北京航空航天大学出版社，1995
[26] 余永权，曾碧．单片机模糊逻辑控制．北京：北京航空航天大学出版，1995，21-65页，98-120页
[27] 章卫国，扬向忠．模糊控制理论与应用．西北工业大学出版
社，1999，108-145页
[28] 王立新．自适应模糊系统与控制．北京：国防工业出版社，1995，122-124页，210-232页
[29] Zadeh L A. A theory of approximating reasoning, in Machine Intelligence, eds. Hayes JE, Michie D and Mikulich L I,New York:Elsevier, 1979,9:149-194P
[30] Zadeh L A. Syllogistic reasoning in fuzzy logic and its application to usuality and reasoning with dispositions. IEEE Trans. on Systems, Man. and Cybern, 1985, SCM-15(6):754-763P
[31] Zadeh L A. Fuzzy sets. informat, control, 1985,8:338-353P
[32] Larsen P M. Industrial application of fuzzy logic control. Int. J. Man Mach. Studies, 1980,12(1):3-10P
[33] Lee CC. Fuzzy logic control systems: fuzzy logic controller. part Ⅰ, IEEE Trans. onSyst., Man. and Cybern.,1990, SMC-20(2): 404-408P
[34] Kelly Cohen. et al. An Adaptive Fuzzy Control Algorithm for Model-Independent Active Vibration Damping of Flexible Beam-Like Structure. J. of Intelligent Material System and Structures, March, 1976,7
[35] Casciati F. et al. Application of Fuzzy to Active Structural Control. Second conf. on Smart Structures and Material. Glasgow 1994, Session 5,206-209P
[36] Kwak M. K. et al. Fuzzy-Logic based vibration suppression control experiments on active structures. Journal of Sound and Vibration, 1996,191(1)
[37] Wang L X. Adaptive Fuzzy System and Control: Design and Stability Analysis. New Jersey: PTR Prentice Hall, 1994
[38] Sugeon M. An introductory survey of fuzzy control. Information Science, 36:59-83P, 1985
[39] Karr C L. Genetic algorithm for fuzzy logic controller. AI Expert, 1991(2)
[40] M. Sugeon, et. An Experimental Study on Fuzzy Parking Control
Using a Model Car, in Industrial Application of Fuzzy Control. Amsterdam: North Holland. 1985
[41] R. M. Tong, et. Fuzzy Control of the Activated Sludge Wastlwater Treatment Process. Automat. 1980, 16(6): 695-701P
[42] 张乃尧，阎平凡．神经网络与模糊控制．北京：清华大学出版社，1998：17-22页，81-85页，119-122页
[43] 刘志刚．柴油机装置振动主动控制技术研究．中国船舶总公司科技报告，1995．
[44] 杨铁军．柴油机装置有源隔振技术研究．哈尔滨工程大学博士论文．2000：63-75页
[45] 屈文忠，丘阳等．模糊自适应滤波的主动控制方法研究．振动工程学报．第11卷第3期，2000：3
[46] 朱美玲，赵淳生，汪凤泉．非线性振动系统神经网络自适应控制方法研究．振动工程学报．Vol．9，No．3，Sep．1996
[47] 严济宽．机械振动隔离技术．上海：上海科技出版社，1986
[48] Tao CW, Taur J. Design of Fuzzy Controllers with Adaptive Rule Insertion. IEEE Trans. on Syst., Man. and Cybern.,1999, Vol.29, No. 3
[49] Wang W J, Tang B Y. A Fuzzy Adaptive Method for Intelligent Control. Exert Systems With Applications, 1999, Vol. 16, No.1
[50] Tong R M, Beck M B and Latten A. Fuzzy control of the activated sludge wastewater treatment process. Automatica, 1980,16(6): 985-701P
[51] Tong R and Chiu S. A fuzzy accelerator for a programming environment for real-time fuzzy control. Proc 2nd IFSA Congress, Tokyo, Japan (1987):147-151P