内燃机整机振动主动控制中模糊控制方法的研究
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摘要
内燃机振动的主要类型是整机振动和扭转振动，其中内燃机整机振动强度是内燃机总体振动品质的反映。传统的整机振动控制方法被动控制只能适用于单一频率的振动，无法满足整机宽频带振动的要求；而主动控制则可以通过外界能量主动改变控制系统的某些参数来适应内燃机整机振动的变化，因此能达到更好的减振效果。
本文以4135型柴油机为研究对象，建立了内燃机整机振动六自由度的数学模型并进行了动力学分析，明确了整机振动的主要干扰力，由此建立了占主导地位的内燃机整机垂向振动控制系统的数学模型，提出了一种新的内燃机整机振动主动控制减振系统。在主动控制的基础上，采用了模糊控制的算法，设计了内燃机整机振动模糊控制器，改进了传统控制方法在处理振动复杂性、非线性和不确定性等方面的缺陷，通过测量内燃机转速和内燃机整机振动速度信号，动态地改变动力减振器的刚度，使减振器的固有频率跟随内燃机整机振动激励频率的变化，达到降低内燃机振动的目的。以Matlab+Simulink为仿真工具，设计了模糊控制系统和被动控制系统两类不同的仿真模型，并进行了对比仿真和结果分析，在此基础上，设计开发了以80C196KC单片机为主控器件的模糊控制系统，进行了控制系统的软、硬件设计，最后对所设计的模糊控制系统进行了台架实验，实验结果表明模糊控制系统能有效地降低了内燃机整机振动的强度，达到了国标规定的合格级，证明了本文建立的数学模型和模糊控制算法是正确可行的，在内燃机振动控制策略方面作了一个积极的探索和研究。
I.C. Engine has two major kinds of vibration: the body vibration and torsion vibration. And the intensity of engine body vibration is the symbol of engine total vibration. Traditional control method over body vibration-passive control only can be adapted to single frequency of vibration, which can not meet the requirement of broad frequency band of body vibration. On the other hand, active control over body vibration can adjust certain parameter of control system to get adapted to the change of I.C. Engine Body Vibration, so it is able to reach better control effect.
This paper takes the 4135 diesel engine for research example, establishes 6-degree mathematic model of I.C. Engine Body Vibration and conducts kinetics analysis. Then the control model of engine vertical vibration which dominates among all kinds of engine vibration is established. So we present a new control system for I.C. Engine Body Vibration. We apply fuzzy control theory to active control over engine body vibration, design fuzzy control system which combines intelligent control with feedback control. This control strategy mends the flaw of complexity, nonlinear and uncertainty when we use traditional control method. By measuring rotate speed and vibration speed of I.C. Engine, the fuzzy control system can adjust spring firmness of shock absorber, so it can fit the change the I.C. Engine Body Vibration. We use Matlab and Simulink as tools to simulate two different kinds of control system. Then based on the simulation results analysis, we design and develop a fuzzy control system in which 8098 chip microcomputer plays the major role. Finally we conducts rig test with fuzzy control system. The test results indicate fuzzy control system is able to lower intensity of body vibration and the national standard on the vibration eligible class of the engine is met. It is demonstrated that the mathematical model and fuzzy control arithmetic presented by the paper are accurate and reliable, which make an active seek and research on control strategy of engine vibration.
本文以4135型柴油机为研究对象，建立了内燃机整机振动六自由度的数学模型并进行了动力学分析，明确了整机振动的主要干扰力，由此建立了占主导地位的内燃机整机垂向振动控制系统的数学模型，提出了一种新的内燃机整机振动主动控制减振系统。在主动控制的基础上，采用了模糊控制的算法，设计了内燃机整机振动模糊控制器，改进了传统控制方法在处理振动复杂性、非线性和不确定性等方面的缺陷，通过测量内燃机转速和内燃机整机振动速度信号，动态地改变动力减振器的刚度，使减振器的固有频率跟随内燃机整机振动激励频率的变化，达到降低内燃机振动的目的。以Matlab+Simulink为仿真工具，设计了模糊控制系统和被动控制系统两类不同的仿真模型，并进行了对比仿真和结果分析，在此基础上，设计开发了以80C196KC单片机为主控器件的模糊控制系统，进行了控制系统的软、硬件设计，最后对所设计的模糊控制系统进行了台架实验，实验结果表明模糊控制系统能有效地降低了内燃机整机振动的强度，达到了国标规定的合格级，证明了本文建立的数学模型和模糊控制算法是正确可行的，在内燃机振动控制策略方面作了一个积极的探索和研究。
I.C. Engine has two major kinds of vibration: the body vibration and torsion vibration. And the intensity of engine body vibration is the symbol of engine total vibration. Traditional control method over body vibration-passive control only can be adapted to single frequency of vibration, which can not meet the requirement of broad frequency band of body vibration. On the other hand, active control over body vibration can adjust certain parameter of control system to get adapted to the change of I.C. Engine Body Vibration, so it is able to reach better control effect.
This paper takes the 4135 diesel engine for research example, establishes 6-degree mathematic model of I.C. Engine Body Vibration and conducts kinetics analysis. Then the control model of engine vertical vibration which dominates among all kinds of engine vibration is established. So we present a new control system for I.C. Engine Body Vibration. We apply fuzzy control theory to active control over engine body vibration, design fuzzy control system which combines intelligent control with feedback control. This control strategy mends the flaw of complexity, nonlinear and uncertainty when we use traditional control method. By measuring rotate speed and vibration speed of I.C. Engine, the fuzzy control system can adjust spring firmness of shock absorber, so it can fit the change the I.C. Engine Body Vibration. We use Matlab and Simulink as tools to simulate two different kinds of control system. Then based on the simulation results analysis, we design and develop a fuzzy control system in which 8098 chip microcomputer plays the major role. Finally we conducts rig test with fuzzy control system. The test results indicate fuzzy control system is able to lower intensity of body vibration and the national standard on the vibration eligible class of the engine is met. It is demonstrated that the mathematical model and fuzzy control arithmetic presented by the paper are accurate and reliable, which make an active seek and research on control strategy of engine vibration.
引文
[1] 周龙宝等．内燃机学．机械工业出版社，1998
[2] 朱孟华．内燃机振动与噪声控制．国防工业出版社，1995
[3] 余成波等．内燃机振动控制及应用．国防工业出版社，1997
[4] 将维仁等．内燃机有害振动的预防和消振技术．机械工业出版社，1996
[5] 张俊红等．内燃机振动的主动控制．小型内燃机，2000，29(2)：44—46
[6] 孙建民等试论内燃机振动的主动控制 汽车工艺与材料，2001，30(3)：30—33
[7] Hao Z, et al. An investigation of active control for the body's vibration of I. C. Engine. Proceedings of SETC, SAE Milwaukee USA, 1989, 9
[8] Mitsuhashi K, et al. Application of active vibration isolating system to diesel mounting. Proceeding 18th International Congress on combustion engine, Diesel Engine Volume, 1889 8
[9] Hao Z, et al. On the active control of the torsional vibration in an I. C. engine crank shaft system. Proceedings of the 2nd MOVIC 94003, Yokohama, Japan, 1994 5
[10] Mizuno. T. Control of system design of a dynamic vibration absorber with an electromagnetic servomechanism. Mechanical System and Signal Processing, 1993, 92(4): 293～306
[11] Walsh. P. L, Lamancrsa J. S. Avariable stiffness vibration absorber for minimization of transient vibrations. Journal of Sound and Vibration, 1992, 158(2): 195—211
[12] 李秀平．控制领域的一支新军．五邑大学学报(自然科学版)，1997，(1)：14
[13] 宋晓琳等．智能控制技术在汽车中的应用．客车技术与研究，2001，23(1)：20—22
[14] Geng, Z. Jason, et al. Intelligent control system for multiple degree-of-freedom vibration isolation. Journal of Intelligent Material Systems and Structures 1995, 19(5): 787-800
[15] A. Ghazi gadeh, A. Fahim, and M. EI-Gindy. Neural network and Fuzzy logic applications to vehicle systems, literature survey. Int. J. of Vehicle Design. 1997, 18(2): 546—553
[16] Martinez, Angelo S; Jamshidi, Mohammed. Design of fuzzy logic based engine idle-speed controllers. IEEE Circuits and Systems Society. 1993, 8(2): 1544—1547
[17] Majors Michael, etal. Neural network control of automotive fuel-injection
systems. IEEE Control Systems Magazine. 1994 14(3): 31—36
[18] Sakai, I; et al. Shift scheduling method of automatic transmission vehicles with application of fuzzy logic. Society of Automotive Engineers SAE. 1990, 48(6): 8756—8470
[19] Yester, J. L; Mc Fall, R.H. A Semi-active Suspension of Passenger Cars Using Fuzzy Reasoning and the Field Testing. Int J of Vehicle Design. 1992, 19(2): 151—166
[20] Moran M; Nagai A. Identification and control of nonlinear active pneumatic suspension for railway vehicles. Using neural networks Control Engineering Practice. 1997, 5(8): 137—1144
[21] Maver, George F. Fuzzy logic controller for an ABS braking system. IEEE Transactions on Fuzzy Systems. 1995 3(4): 381—388
[22] Tang P; Palazzole A et al. Combined piezoelectric-Hydraulic actrator based active vibration control for rotordynamic system [J].J. of Vibration control and Acoustics, 1995,117(3): 501—506
[23] 丛爽等．神经网络、模糊系统及其在控制系统中的应用．中国科学技术大学出版社 2001
[24] 李士勇等．模糊控制、神经网络控制和智能控制论．哈尔滨工业大学出版社，1996
[25] 刘曙光等．模糊控制技术．中国纺织出版社，2001
[26] 于长宫．现代控制理论．哈尔滨工业大学出版社，1997
[27] 林大渊．内燃机动力学．中国工业出版社，1961
[28] 张准等．振动分析．东南大学出版社，1991
[29] 张思．振动测试与分析技术．清华大学出版社，1992
[30] 郝志勇等．内燃机整机振动部分施控系统理论与试验研究．内燃机学报，2000，18(3)：230—234
[31] 张志涌等．精通Matlab5.3．北京航空航天大学出版社，1999
[32] 闻新等．Matlab模糊逻辑工具箱的分析与应用．科学出版社，1998
[33] 陈贵民等．应用MATLAB建模与仿真．科学出版社，1999
[34] 刘志刚等．人工神经网络在柴油机振动有源控制中的研究．船舶工程，2000，(2)：33—36
[35] 孙忠池．多自由度振动系统动力减振器的优化设计及应用．振动与冲击，1991，(4)：8—12
[36] 庄继德．汽车电子控制系统工程．北京理工大学出版社，1998
[37] 李东江．现代汽车车用传感器及其故障技术．机械工业出版社，1999
[38] 谷毅，振动测量传感器的发展现状．北京：现代计量测试，1997(5)：20—23
[39] 石秉良等．可调减振器及其模糊控制方法初探．江苏理工大学学报，1999，20(4)：
32—35
[40] 戎月莉．计算机模糊控制原理及应用．北京航空航天大学出版社，1995
[41] 王曦，朱建新等．内燃机整机振动模糊控制系统的设计．小型内燃机与摩托车，(已录用，于2003第2期发表)
[42] 王曦，朱建新等．神经网络在内燃机整机振动主动控制中的研究．车用发动机，2003，143(1)：44-47
[43] 余永权等．单片机模糊逻辑控制．北京航空航天大学出版社，1995
[44] 徐爱卿．Intel 16位单片机．北京航空航天大学出版社，2001
[45] 刘复华．8XC196KX单片机及其应用系统设计．清华大学出版社，2002
[46] 杨建宁．单片机对步进电机升降速的控制．江苏大学校报，1997，24(6)：15—18
[47] 张克彦．MCS-51／196单片机浮点程序和实用程序．北京航空航天大学出版社，2001
[48] 张有德等．单片微型机原理、应用与实验．复旦大学出版社，1998
[49] Huang, Minchao. et al. Vibration detection of liquid rocket engine based on fuzzy neural networks. Journal of Vibration Engineering. 1997,10 (6):219-224
[50] Geng, Z. Jason et al. Active vibration isolation using fuzzy CMAC neural networks. AIAA Structural Dynamics & Materials Conference. 1995, 4 (4):2308-2318
[51] Al-Holou, Nizar et al. Adaptive fuzzy logic based controller for an active suspension system. IEEE Midwest Symposium on Circuits and Systems. 1996, 2(8): 583-586
[52] Li, Qin, et al. Study on active suspension for large-scale buses using fuzzy reasoning (design of self-tuning fuzzy controller with dynamic absorbers) Transactions of the Japan Society of Mechanical Engineers, JSME 1996 62 (PartC): 3500-3507
[53] Huang Shiuh-Jer; Lian Ruey-Jing. Active vibration control of a dynamic absorber using fuzzy algorithms. Mechatronics 1996, 6 (3): 317-336
[54] Wong CC, et al. Rule Regulation of indirect Adaptive Fuzzy controller Design IEE Proceedings-control Theory and Application 1998, 145 (6): 153—168
[2] 朱孟华．内燃机振动与噪声控制．国防工业出版社，1995
[3] 余成波等．内燃机振动控制及应用．国防工业出版社，1997
[4] 将维仁等．内燃机有害振动的预防和消振技术．机械工业出版社，1996
[5] 张俊红等．内燃机振动的主动控制．小型内燃机，2000，29(2)：44—46
[6] 孙建民等试论内燃机振动的主动控制 汽车工艺与材料，2001，30(3)：30—33
[7] Hao Z, et al. An investigation of active control for the body's vibration of I. C. Engine. Proceedings of SETC, SAE Milwaukee USA, 1989, 9
[8] Mitsuhashi K, et al. Application of active vibration isolating system to diesel mounting. Proceeding 18th International Congress on combustion engine, Diesel Engine Volume, 1889 8
[9] Hao Z, et al. On the active control of the torsional vibration in an I. C. engine crank shaft system. Proceedings of the 2nd MOVIC 94003, Yokohama, Japan, 1994 5
[10] Mizuno. T. Control of system design of a dynamic vibration absorber with an electromagnetic servomechanism. Mechanical System and Signal Processing, 1993, 92(4): 293～306
[11] Walsh. P. L, Lamancrsa J. S. Avariable stiffness vibration absorber for minimization of transient vibrations. Journal of Sound and Vibration, 1992, 158(2): 195—211
[12] 李秀平．控制领域的一支新军．五邑大学学报(自然科学版)，1997，(1)：14
[13] 宋晓琳等．智能控制技术在汽车中的应用．客车技术与研究，2001，23(1)：20—22
[14] Geng, Z. Jason, et al. Intelligent control system for multiple degree-of-freedom vibration isolation. Journal of Intelligent Material Systems and Structures 1995, 19(5): 787-800
[15] A. Ghazi gadeh, A. Fahim, and M. EI-Gindy. Neural network and Fuzzy logic applications to vehicle systems, literature survey. Int. J. of Vehicle Design. 1997, 18(2): 546—553
[16] Martinez, Angelo S; Jamshidi, Mohammed. Design of fuzzy logic based engine idle-speed controllers. IEEE Circuits and Systems Society. 1993, 8(2): 1544—1547
[17] Majors Michael, etal. Neural network control of automotive fuel-injection
systems. IEEE Control Systems Magazine. 1994 14(3): 31—36
[18] Sakai, I; et al. Shift scheduling method of automatic transmission vehicles with application of fuzzy logic. Society of Automotive Engineers SAE. 1990, 48(6): 8756—8470
[19] Yester, J. L; Mc Fall, R.H. A Semi-active Suspension of Passenger Cars Using Fuzzy Reasoning and the Field Testing. Int J of Vehicle Design. 1992, 19(2): 151—166
[20] Moran M; Nagai A. Identification and control of nonlinear active pneumatic suspension for railway vehicles. Using neural networks Control Engineering Practice. 1997, 5(8): 137—1144
[21] Maver, George F. Fuzzy logic controller for an ABS braking system. IEEE Transactions on Fuzzy Systems. 1995 3(4): 381—388
[22] Tang P; Palazzole A et al. Combined piezoelectric-Hydraulic actrator based active vibration control for rotordynamic system [J].J. of Vibration control and Acoustics, 1995,117(3): 501—506
[23] 丛爽等．神经网络、模糊系统及其在控制系统中的应用．中国科学技术大学出版社 2001
[24] 李士勇等．模糊控制、神经网络控制和智能控制论．哈尔滨工业大学出版社，1996
[25] 刘曙光等．模糊控制技术．中国纺织出版社，2001
[26] 于长宫．现代控制理论．哈尔滨工业大学出版社，1997
[27] 林大渊．内燃机动力学．中国工业出版社，1961
[28] 张准等．振动分析．东南大学出版社，1991
[29] 张思．振动测试与分析技术．清华大学出版社，1992
[30] 郝志勇等．内燃机整机振动部分施控系统理论与试验研究．内燃机学报，2000，18(3)：230—234
[31] 张志涌等．精通Matlab5.3．北京航空航天大学出版社，1999
[32] 闻新等．Matlab模糊逻辑工具箱的分析与应用．科学出版社，1998
[33] 陈贵民等．应用MATLAB建模与仿真．科学出版社，1999
[34] 刘志刚等．人工神经网络在柴油机振动有源控制中的研究．船舶工程，2000，(2)：33—36
[35] 孙忠池．多自由度振动系统动力减振器的优化设计及应用．振动与冲击，1991，(4)：8—12
[36] 庄继德．汽车电子控制系统工程．北京理工大学出版社，1998
[37] 李东江．现代汽车车用传感器及其故障技术．机械工业出版社，1999
[38] 谷毅，振动测量传感器的发展现状．北京：现代计量测试，1997(5)：20—23
[39] 石秉良等．可调减振器及其模糊控制方法初探．江苏理工大学学报，1999，20(4)：
32—35
[40] 戎月莉．计算机模糊控制原理及应用．北京航空航天大学出版社，1995
[41] 王曦，朱建新等．内燃机整机振动模糊控制系统的设计．小型内燃机与摩托车，(已录用，于2003第2期发表)
[42] 王曦，朱建新等．神经网络在内燃机整机振动主动控制中的研究．车用发动机，2003，143(1)：44-47
[43] 余永权等．单片机模糊逻辑控制．北京航空航天大学出版社，1995
[44] 徐爱卿．Intel 16位单片机．北京航空航天大学出版社，2001
[45] 刘复华．8XC196KX单片机及其应用系统设计．清华大学出版社，2002
[46] 杨建宁．单片机对步进电机升降速的控制．江苏大学校报，1997，24(6)：15—18
[47] 张克彦．MCS-51／196单片机浮点程序和实用程序．北京航空航天大学出版社，2001
[48] 张有德等．单片微型机原理、应用与实验．复旦大学出版社，1998
[49] Huang, Minchao. et al. Vibration detection of liquid rocket engine based on fuzzy neural networks. Journal of Vibration Engineering. 1997,10 (6):219-224
[50] Geng, Z. Jason et al. Active vibration isolation using fuzzy CMAC neural networks. AIAA Structural Dynamics & Materials Conference. 1995, 4 (4):2308-2318
[51] Al-Holou, Nizar et al. Adaptive fuzzy logic based controller for an active suspension system. IEEE Midwest Symposium on Circuits and Systems. 1996, 2(8): 583-586
[52] Li, Qin, et al. Study on active suspension for large-scale buses using fuzzy reasoning (design of self-tuning fuzzy controller with dynamic absorbers) Transactions of the Japan Society of Mechanical Engineers, JSME 1996 62 (PartC): 3500-3507
[53] Huang Shiuh-Jer; Lian Ruey-Jing. Active vibration control of a dynamic absorber using fuzzy algorithms. Mechatronics 1996, 6 (3): 317-336
[54] Wong CC, et al. Rule Regulation of indirect Adaptive Fuzzy controller Design IEE Proceedings-control Theory and Application 1998, 145 (6): 153—168
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