液压振动台时域跟踪振动控制技术研究
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摘要
通过在线估计液压振动台及试件预测器DARMA模型与参数,引入预测方差目标最优函数,实现对目标振动位移信号的实时渐近无差跟踪。通过系统仿真及联台试验,其控制结果表明,该方法控制精度高,在线估计参数能迅速收敛,并具有良好的鲁棒性和削弱噪声能力,能够直接跟踪目标振动位移一次性完成振动试验。该方法有别于传统的振动控制技术,不需要辨识传递函数及预实验,可直接实现高精度振动模拟。
Through on line estimating DARMA model and parameters of a hydraulic shaking table and a specimen predictor and introducing the objective's prediction variance optimal function,the real time asymptotic tracking without error of the target's vibration displacement signals was realized. The simulation and table test results showed that the proposed technique has a higher control accuracy,parameters' on line estimation is quickly convergent,the technique has a good robustness and a good denoising capacity,it can directly track the target's vibration displacement and complete vibration tests disposably; compared to traditional vibration control technique,it can realize directly vibration analog with a higher accuracy without identifying the transfer function and pre-tests.
Through on line estimating DARMA model and parameters of a hydraulic shaking table and a specimen predictor and introducing the objective's prediction variance optimal function,the real time asymptotic tracking without error of the target's vibration displacement signals was realized. The simulation and table test results showed that the proposed technique has a higher control accuracy,parameters' on line estimation is quickly convergent,the technique has a good robustness and a good denoising capacity,it can directly track the target's vibration displacement and complete vibration tests disposably; compared to traditional vibration control technique,it can realize directly vibration analog with a higher accuracy without identifying the transfer function and pre-tests.
引文
[1]何景峰,李保平,佟志忠,等.液压驱动冗余振动台自由度控制及内力协调[J].振动与冲击,2011,30(3):74-78.HE Jingfeng,LI Baoping,TONG Zhizhong,et al.Do F control and inner force balancing of hydraulically redundant actuated shaking table[J].Journal of Vibration and Shock,2011,30(3):74-78.
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[7]严侠,牛宝良,黎启胜.多维波形再现控制系统设计与开发[J].振动与冲击,2007,26(9):162-164.YAN Xia,NIU Baoliang,LI Qisheng.Design of multidimensional waveform republication[J].Journal of Vibration and Shock,2007,26(9):162-164.
[8]刘小勇,杨清宇,施仁.基于X滤波最小均方算法的冲击振动自适应逆控制[J].西安交通大学学报,2004,38(2):144-148.LIU Xiaoyong,YANG Qingyu,SHI Ren.Adaptive inverse control of shock vibration based on filter-X least mean square algorithm[J].Journal of Xi’an Jiaotong University,2004,38(2):144-148.
[9]成大先.机械设计手册单行本(液压控制)[M].北京:化学工业出版社,2004(1):60-80.
[10]GOODWIN G C,SIN K S.自适应虑波、预测与控制[M].北京:科学出版社,1992(4):87-88,142-148.
[11]方崇智,萧德云.过程辨识[M].北京:清华大学出版社,1988(6):173-174.
[2]崔伟青,王胜凯,任雯.一种改进的地震模拟振动台三参量控制技术[J].液压与气动,2012(11):144-146.CUI Weiqing,WANG Shengkai,REN Wen.An improved three-parameter control of earthquake shaking table[J].Chinese Hydraulics&Pneumatics,2012(11):144-146.
[3]栾强利,陈章位,徐尽荣,等.地震模拟振动台三参量控制技术研究[J].振动与冲击,2014,33(8):54-60.LUAN Qiangli,CHEN Zhangwei,XU Jinrong.Three-variable control technique for a seismic analog shaking table[J].Journal of Vibration and Shock,2014,33(8):54-60.
[4]张兵,郑淑涛,杨志东,等.基于自适应逆控制的液压振动台功率谱复现[J].振动与冲击,2013,32(20):151-155.ZHANG Bing,ZHENG Shutao,YANG Zhidong,et al.PSD replication of a shaking table based on adaptive inverse control[J].Journal of Vibration and Shock,2013,32(20):151-155.
[5]关淑贤,胡宝生,李金骥.自动控制技术在大型三向地震模拟振动台研制中的应用[J].世界地震工程,1999,15(2):92-95.GUAN Shuxian,HU Baosheng,LI Jinji.Application of auto control technique to development of a large-scale of 3-D earthquake simulation shaking table[J].World Information on Earthquake Engineering,1999,15(2):92-95.
[6]严侠,王珏,牛宝良,等.一种改善液压激振系统高频特性的位移加速度混合控制技术[J].机床与液压,2015(15):144-146.YAN Xia,WANG Jue,NIU Baoliang,et al.A hybrid control method for improving high frequency characteristics of hydraulic shock excitation system[J].Machine Tool&Hydraulics,2015(15):144-146.
[7]严侠,牛宝良,黎启胜.多维波形再现控制系统设计与开发[J].振动与冲击,2007,26(9):162-164.YAN Xia,NIU Baoliang,LI Qisheng.Design of multidimensional waveform republication[J].Journal of Vibration and Shock,2007,26(9):162-164.
[8]刘小勇,杨清宇,施仁.基于X滤波最小均方算法的冲击振动自适应逆控制[J].西安交通大学学报,2004,38(2):144-148.LIU Xiaoyong,YANG Qingyu,SHI Ren.Adaptive inverse control of shock vibration based on filter-X least mean square algorithm[J].Journal of Xi’an Jiaotong University,2004,38(2):144-148.
[9]成大先.机械设计手册单行本(液压控制)[M].北京:化学工业出版社,2004(1):60-80.
[10]GOODWIN G C,SIN K S.自适应虑波、预测与控制[M].北京:科学出版社,1992(4):87-88,142-148.
[11]方崇智,萧德云.过程辨识[M].北京:清华大学出版社,1988(6):173-174.