一类输出时滞系统的振动主动控制方法研究
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摘要
为实施一类受复杂外扰作用结构系统的低频振动控制,相应的控制系统需引入高阶低通滤波器来消除输出测量中的噪声和高频干扰,以避免观测溢出,从而形成了含输出时滞的受控振动系统。为补偿该类滤波器带来的时滞影响,提出了考虑输出时滞的最优控制方法。首先采用Moore-Penrose广义逆求解方法将含有输出时滞的系统方程转换为对应的输入输出描述形式;然后利用扩维方法将含时滞的系统转换为不显含时滞的系统,并采用传统的LQ方法设计相应的控制律。最后以实际风洞测力试验模型的低频主动减振为研究背景,进行相应的数值仿真和实验验证。结果表明,该方法能有效抑制这类输出时滞系统的低频振动。同时确保输出信号中的高频成分和噪声干扰得到很大程度的衰减,有效避免了控制器的观测溢出问题。
A method of active vibration control for a kind of system with output time delay is investigated in this paper.In order to solve the problem of observation spillover,high order low-pass filter is introduced to eliminate the noises and high frequency disturbances in the measurements,thus the controlled vibration system with output time delay is constructed.To compensate the influences of the time delay an optimal control method considering the output with time delay is proposed.Firstly the output time delay system was converted to an input/output description by Moore-Penrose generalized inverse solution method.Then the system without explicit time delay was obtained by the expanding dimension method,and the corresponding control law was designed by using Linear Quadratic(LQ) control method.Finally the simulations and experiments were performed on an actual force measurement model of the wind tunnel.Results show that the proposed method can effectively suppress the low frequency vibrations of the output time delayed system.In addition,the high frequency components and noise disturbances in output signals can be greatly attenuated,and the problem of observation spillover is effectively avoided too.
A method of active vibration control for a kind of system with output time delay is investigated in this paper.In order to solve the problem of observation spillover,high order low-pass filter is introduced to eliminate the noises and high frequency disturbances in the measurements,thus the controlled vibration system with output time delay is constructed.To compensate the influences of the time delay an optimal control method considering the output with time delay is proposed.Firstly the output time delay system was converted to an input/output description by Moore-Penrose generalized inverse solution method.Then the system without explicit time delay was obtained by the expanding dimension method,and the corresponding control law was designed by using Linear Quadratic(LQ) control method.Finally the simulations and experiments were performed on an actual force measurement model of the wind tunnel.Results show that the proposed method can effectively suppress the low frequency vibrations of the output time delayed system.In addition,the high frequency components and noise disturbances in output signals can be greatly attenuated,and the problem of observation spillover is effectively avoided too.
引文
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[13]陈卫东,邵敏强,杨兴华,等.跨声速风洞测力模型主动减振系统的试验研究[J].振动工程学报,2007,20(1):91—96.Chen Weidong,Shao Minqiang,Yang Xinghua,et al.Experimental evaluation of an active vibration controlsystem for wind tunnel aerodynamic models[J].Journal of Vibration Engineering,2007,20(1):91—96.
[2]胡海岩.振动主动控制中的时滞动力学问题[J].振动工程学报,1997,10(3):273—279.Hu Haiyan.On dynamics in vibration control withtime delay[J].Journal of Vibration Engeering,1997,10(3):273—279.
[3]陈龙祥,蔡国平.地震作用下建筑结构的多时滞最优控制[J].振动与冲击,2008,27(4):63—66.Chen Longxiang,Cai Guoping.Optimal controlmethod for seismically excited structures withmultiple time delay in control[J].Journal of Vibrationand Shock,2008,27(4):63—66.
[4]Sipahi R,Olgac N.Degenerate cases in using thedirect method[J].Journal of Dynamic Systems,Measurement and Control,2003,125:194—201.
[5]Sipahi R,Olgac N.Direct method implementation forthe stability analysis of multiple time delayed systems[A].Proceedings of 2003 IEEE Conference onControl Applications[C].Istanbul,Turkey,2003,2:88—97.
[6]Udwadia F E,von Bremen H F,Kumar R,et al.Time delayed control of structural systems[J].Earthquake Engineering and Structural Dynamics,2003,32(4):495—535.
[7]Mohamed A.Time-delay effects on active dampedstructures[J].Journal of Engineering Mechanics,1987,113(11):1 709—1 719.
[8]Mc Greery S,Soong T T,Reinhorn A M.Anexperiments study of time delay compensation inactive structural control[A].Proceedings of sixthInternational Modal Analysis Conference[C].Orlando,FL,USA,1988:1 733—1 739.
[9]李卫,孙增圻.包含延时的采样系统的最优控制[J].控制理论与应用,1987,4(2):10—18.Li Wei,Sun Zengqi.The linear quadratic optimalcontrol for sampled-data systems with delay in control[J].Control Theory&Applications,1987,4(2):10—18.
[10]Cai G P,Huang J.Optimal control method with timedelay in control[J].Journal of Sound and Vibration,2002,251(3):383—394.
[11]Chen L X,Cai G P.Design method of multiple time-delay controller for active structural vibration control[J].Applied Mathematics and Mechanics,2009,30(11):1 405—1 411.
[12]Haraguchi M,Hu H Y.Using a new discretizationapproach to design a delayed LQG controller[J].Journal of Sound and Vibration,2008,314:558—570.
[13]陈卫东,邵敏强,杨兴华,等.跨声速风洞测力模型主动减振系统的试验研究[J].振动工程学报,2007,20(1):91—96.Chen Weidong,Shao Minqiang,Yang Xinghua,et al.Experimental evaluation of an active vibration controlsystem for wind tunnel aerodynamic models[J].Journal of Vibration Engineering,2007,20(1):91—96.
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