液压振动台高精度正弦振动的控制策略研究
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摘要
正弦振动试验技术是振动力学环境模拟的一项重要内容,广泛应用于国防、航空航天、汽车、土木建筑等工业领域。本文是在“985”二期“重大模拟与仿真装备及其关键技术研究”资助下,进行正弦振动试验关键控制策略的理论与试验研究,从而达到提高正弦振动试验输出精度的目的,这对于保证正弦振动试验的可行性和可信度有重要意义。
液压振动台是实现大型全尺寸试件正弦振动试验的重要设备。但是,由于其自身的非线性特性以及试验条件的不确定性,液压振动台加速度实际响应信号波形失真严重、幅值稳定度差、较期望加速度信号有较大的幅值衰减、相位滞后。这些问题使正弦振动试验结果的可信度降低,甚至使试验无法进行。
为了实现高精度的正弦振动试验,在对自适应滤波器相关理论研究分析的基础上,设计了自适应幅相控制器和自适应谐波消除控制器,并在自主研制的伺服控制器上进行了试验研究。本文的研究性工作主要包括如下几个方面:
为实现振动试验系统的控制算法,研发了基于DSPs的伺服控制器。通过软件、硬件上的一系列前期设计工作,在自定制的DSPs控制器上实现了基于模型的控制程序设计。按这种方式设计控制系统软件,无需手写控制算法代码而由算法的Simulink模型程序自动生成即可,为本文控制算法的设计、调试提供了方便快捷的实现方法。
为消除加速度响应的相位滞后、幅值衰减、提高幅值稳定度,提出基于ASLMS算法的自适应幅相控制策略,并分析其原理。与基于标准LMS算法的幅相控制策略进行对比试验研究,阐明了提出的幅相控制策略参数选取容易,收敛速度更快,失调量更小。
为消除加速度响应信号中的高次谐波,提出基于ASLMS算法的自适应谐波消除控制策略。为实现此策略,设计了能同时消除多次谐波的自适应谐波消除器(AHC)的滤波器结构,相对消除单次谐波的传统AHC,该结构没有增加计算量。与基于标准LMS算法的AHC对比试验研究阐明了基于ASLMS算法的AHC在参数设置上有优势,且收敛速度更快、波形失真更小。
Sinusoidal vibration experiment technology is one important aspect of vibration mechanism environment simulation, which is widely used in engineering areas as defense, aerospace, construction. Sponsored by‘great imitation and simulation equipment and its key technique research’of the 2nd phase of‘985’, this paper carried out theoretical and experimental research on key control strategy of sinusoidal vibration, attaining the purpose of improving the output precision of sinusoidal vibration experiment, which is significant to sustain feasibility and credibility of sinusoidal vibration experiment.
Hydraulic shake table is important equipment for implementing large, full-length specimen sinusoidal experiment. For its nonlinearity and uncertainty of experiment conditions, the actual response waveform of hydraulic shake table acceleration is seriously distorted, with ill amplitude stability, bigger amplitude attenuation and phase lag. These problems lowered the credibility of results of sinusoidal experiment, even made the experiment impossible.
In order to implement high accuracy sinusoidal vibration experiment, on basis of analyzing theories concerning adaptive filter, adaptive amplitude-phase controller and adaptive harmonic canceler were designed, and experiment was performed on custom servo-controller. Research of this paper includes the following:
The servo-controller based on DSPs is developed for implementing the control algorithm of vibration experimental system. Through a series of pre-work design based on hardware and software, the model-based design of control system is accomplished for the custom DSPs controller. By this means of software design, the control algorithm code could be generated automatically by the Simulink model instead of hand-writing, providing the convenient implementation of design and debugging of control algorithm in this thesis.
For eliminating the phase lag and amplitude attenuation of acceleration response and improving the amplitude stability, the control strategy of adaptive ASLMS-based amplitude-phase control is proposed, as well as its principle analysis. After comparing with amplitude-phase control strategy based on the standard LMS, the proposed amplitude-phase control strategy makes the parameter access easier, convergence faster, and the misadjustment smaller.
The control strategy of adaptive ASLMS-based harmonic cancellation is proposed for eliminating the higher harmonics of acceleration response. For implementing this strategy, the filter structure of adaptive harmonic canceller (AHC) eliminating multi-harmonics simultaneously is proposed, which does not increase the amount of calculation, comparing with the traditional AHC eliminating single harmonic. Experimental research comparing with AHC based on standard LMS, demonstrated that ASLMS-based AHC, which has faster convergence and smaller distortion, owe more advantages in the parameter setting.
液压振动台是实现大型全尺寸试件正弦振动试验的重要设备。但是,由于其自身的非线性特性以及试验条件的不确定性,液压振动台加速度实际响应信号波形失真严重、幅值稳定度差、较期望加速度信号有较大的幅值衰减、相位滞后。这些问题使正弦振动试验结果的可信度降低,甚至使试验无法进行。
为了实现高精度的正弦振动试验,在对自适应滤波器相关理论研究分析的基础上,设计了自适应幅相控制器和自适应谐波消除控制器,并在自主研制的伺服控制器上进行了试验研究。本文的研究性工作主要包括如下几个方面:
为实现振动试验系统的控制算法,研发了基于DSPs的伺服控制器。通过软件、硬件上的一系列前期设计工作,在自定制的DSPs控制器上实现了基于模型的控制程序设计。按这种方式设计控制系统软件,无需手写控制算法代码而由算法的Simulink模型程序自动生成即可,为本文控制算法的设计、调试提供了方便快捷的实现方法。
为消除加速度响应的相位滞后、幅值衰减、提高幅值稳定度,提出基于ASLMS算法的自适应幅相控制策略,并分析其原理。与基于标准LMS算法的幅相控制策略进行对比试验研究,阐明了提出的幅相控制策略参数选取容易,收敛速度更快,失调量更小。
为消除加速度响应信号中的高次谐波,提出基于ASLMS算法的自适应谐波消除控制策略。为实现此策略,设计了能同时消除多次谐波的自适应谐波消除器(AHC)的滤波器结构,相对消除单次谐波的传统AHC,该结构没有增加计算量。与基于标准LMS算法的AHC对比试验研究阐明了基于ASLMS算法的AHC在参数设置上有优势,且收敛速度更快、波形失真更小。
Sinusoidal vibration experiment technology is one important aspect of vibration mechanism environment simulation, which is widely used in engineering areas as defense, aerospace, construction. Sponsored by‘great imitation and simulation equipment and its key technique research’of the 2nd phase of‘985’, this paper carried out theoretical and experimental research on key control strategy of sinusoidal vibration, attaining the purpose of improving the output precision of sinusoidal vibration experiment, which is significant to sustain feasibility and credibility of sinusoidal vibration experiment.
Hydraulic shake table is important equipment for implementing large, full-length specimen sinusoidal experiment. For its nonlinearity and uncertainty of experiment conditions, the actual response waveform of hydraulic shake table acceleration is seriously distorted, with ill amplitude stability, bigger amplitude attenuation and phase lag. These problems lowered the credibility of results of sinusoidal experiment, even made the experiment impossible.
In order to implement high accuracy sinusoidal vibration experiment, on basis of analyzing theories concerning adaptive filter, adaptive amplitude-phase controller and adaptive harmonic canceler were designed, and experiment was performed on custom servo-controller. Research of this paper includes the following:
The servo-controller based on DSPs is developed for implementing the control algorithm of vibration experimental system. Through a series of pre-work design based on hardware and software, the model-based design of control system is accomplished for the custom DSPs controller. By this means of software design, the control algorithm code could be generated automatically by the Simulink model instead of hand-writing, providing the convenient implementation of design and debugging of control algorithm in this thesis.
For eliminating the phase lag and amplitude attenuation of acceleration response and improving the amplitude stability, the control strategy of adaptive ASLMS-based amplitude-phase control is proposed, as well as its principle analysis. After comparing with amplitude-phase control strategy based on the standard LMS, the proposed amplitude-phase control strategy makes the parameter access easier, convergence faster, and the misadjustment smaller.
The control strategy of adaptive ASLMS-based harmonic cancellation is proposed for eliminating the higher harmonics of acceleration response. For implementing this strategy, the filter structure of adaptive harmonic canceller (AHC) eliminating multi-harmonics simultaneously is proposed, which does not increase the amount of calculation, comparing with the traditional AHC eliminating single harmonic. Experimental research comparing with AHC based on standard LMS, demonstrated that ASLMS-based AHC, which has faster convergence and smaller distortion, owe more advantages in the parameter setting.
引文
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