力学与实践 ›› 2020, Vol. 42 ›› Issue (2): 170-176.DOI: 10.6052/1000-0879-19-309

• 应用研究 • 上一篇    下一篇

基于双驱动智能悬臂梁的自校正PID振动控制研究1)

杨越2), 胡晓琳3), 张婷4)   

  1. 上海工程技术大学机械与汽车工程学院,上海 201620
  • 收稿日期:2019-08-19 修回日期:2019-09-07 出版日期:2020-04-20 发布日期:2020-05-11
  • 通讯作者: 4) 张婷,讲师,主要研究方向为智能结构的感知与驱动。 E-mail: zhangt@sues.edu.cn
  • 作者简介:2) 杨越,硕士研究生,主要研究方向为智能结构自适应振动控制。3) 胡晓琳,硕士研究生,主要研究方向为智能结构自适应振动控制。
  • 基金资助:
    1) 国家自然科学资助项目(11702168)

SELF-CORRECTED PID VIBRATION CONTROL BASED ON DUAL-FREEDOM DUAL-DRIVE INTELLIGENT CANTILEVER BEAM 1)

YANG Yue2), HU Xiaolin3), ZHANG Ting4)   

  1. School of Mechanical and Automotive Engineering Shanghai University of Engineering and Technology, Shanghai 201620, China
  • Received:2019-08-19 Revised:2019-09-07 Online:2020-04-20 Published:2020-05-11

摘要: 随着科技不断进步,智能结构的振动控制在航天航空、机械制造、车辆与船舶等领域得到了广泛应用。由于多输入多输出存在多样性和复杂性,严重威胁系统稳定性。为了解决这一问题,针对两输入单输出的双驱动智能悬臂梁系统提出一种自适应控制策略,首先基于压电线性本构方程,应用假设模态方法建立双驱动智能悬臂梁的力学模型,得到了基于闭环控制系统的状态方程,同时利用递推最小二乘法在线辨识系统参数设计比例积分微分(proportional--integral--derivative, PID)控制器实现自校正PID控制。通过数值仿真对比在有无PID 控制下两输入单输出双驱动智能悬臂梁系统的振动情况,分析自校正PID 控制的控制效果。通过实验验证自校正PID 控制对双输入单输出的双驱动智能悬臂梁系统的控制效果;再设置两组不同的单输入单输出自校正PID控制实验作对比。结果表明:自校正PID 控制方法可以较为有效地抑制智能悬臂梁的自由振动,相比单输入单输出的两组,两输入单输出自校正PID控制的效果更为明显和有效。

关键词: 振动与波, 智能悬臂梁, 系统辨识, 自校正PID (proportional-integral-derivative) 控制, 振动控制

Abstract: Along with the continuous progress of science and technology, the vibration control of the intelligent structure is now widely used in the aerospace, the machinery manufacturing, the vehicles and the ships. Due to the diversity and the complexity of the multi-input multi-output, the stability of the system is a serious concern. To deal with this problem, an adaptive control strategy is proposed for the dual-drive intelligent cantilever beam system with two input spouts. First of all, based on the linear piezoelectric equation, the mechanical model of the dual-drive intelligent cantilever beam is established by assuming the modes, and the state equation based on the closed-loop control system is obtained. At the same time, the proportional--integral--derivative (PID) controller is designed to self-correct the PID by using the parameters of the online identification system by the recurrent least square method. The control effect of the self-correcting PID control is analyzed by comparing the vibration of the two-input single-output dual-drive intelligent cantilever beam system under PID control by the numerical simulation. The control effect of the self-correction PID control for the dual-drive intelligent cantilever beam system of the dual-input single output is verified by experiments, and two different sets of single-input single-output self-corrected PID control experiments are compared. The results show that the self-correcting PID control method can effectively suppress the free vibration of the intelligent cantilever beam, which is more effective than the two groups of the single input single output systems. The two input single output self-correction PID control is better and more effective.

Key words: vibration and wave, intelligent cantilever beam, system identification, self-correcting PID (proportional-integral-derivative) control, vibration control

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