磁悬浮－气囊主被动混合隔振装置理论和实验

为了更有效地控制舰船动力机械宽频和低频线谱振动的传递,提出了一种将磁悬浮作动器与气囊隔振器集成应用的磁悬浮-气囊主被动混合隔振装置。通过对磁悬浮作动器机电耦合特性和混合隔振系统动力学特性的分析研究,确定了满足线谱振动控制要求和满足混合隔振装置性能要求的参数设计方法。针对主动控制时,FxLMS(filtered-x least mean square)算法在小阻尼系统上需用高阶FIR滤波器建模,运算量大的问题,提出了分频段控制的改进FxLMS算法,并有效地解决了作动器的非线性效应问题。样机实验结果表明:理论分析是正确的,该项技术控制力需求小,装置稳定性好,具有优良的宽频隔振和低频线谱振动控制效果。     

主动磁悬浮系统的变论域自适应模糊PID控制

针对主动磁悬浮轴承系统具有强非线性、强耦合、模型不确定等特点,提出了一种变论域自适应模糊PID算法。该方法通过选择合适的伸缩因子,避免了传统模糊PID控制中出现规则爆炸的问题。同时针对传统伸缩因子的函数结构和参数难以确定的特点,设计了基于模糊规则的论域伸缩因子。在SIMULINK环境中对主动磁悬浮轴承系统进行仿真,仿真结果表明,变论域模糊PID算法控制的主动磁悬浮系统具有更好的动静态性能,对外界干扰具有更强的鲁棒性。     

一种提高RS422通信BIT可靠性的设计方法

电动静液作动器是飞机操纵系统的关键部件,要求有较好的速度平稳性。系统内存在泄漏非线性和摩擦非线性等影响速度平稳性的因素。滑模控制可以有效抑制系统内非线性因素的影响,但是由于抖振现象的存在限制了速度平稳性的进一步提升。针对固定切换增益的滑模控制方法的不足,提出一种基于变结构滤波器的自适应滑模控制方法。采用变结构滤波器估计系统状态信息,估计的系统状态信息用于构建滑模面,采用自适应切换增益来导出控制率,有效减小了抖振幅度。仿真结果证明了自适应滑模控制方法的有效性,采用这种方法提高了电动静液作动器的速度平稳性。     

单自由度非线性保守系统作大振幅振动时周期的计算方法

简要介绍了单自由度非线性保守系统作大振幅振动时周期的计算方法,并给出了几个常见典型振动问题的周期公式．     

汽车车内噪声主动控制系统仿真

摘要：降低汽车空腔的振动，是抑制汽车车内噪声的有效途径之一。以激振器、作动器和控制器等为主要部件，搭建了简化的汽车车内噪声主动控制系统，该系统通过将汽车空腔模型简化为板件，以减弱板件振动为目标，实现了汽车车内噪声主动控制。采用简谐正弦及余弦信号作为激振器发出的激励，用于模拟板件的初始振动，控制器通过采用模糊控制算法直接控制压电陶瓷作动器的振动，压电陶瓷作动器的振动用于抑制板件的振动，完成了汽车车内噪声主动控制系统仿真。仿真结果表明，研究采用的汽车车内噪声主动控制系统，使汽车空腔振动降低23%，为解决由汽车发动机和动力总成的振动所引发的汽车车内噪声问题提供了一个有效途径。     

一种基于非线性微扰参数的自适应混沌控制方法

研究了基于非线性微扰参数的自适应控制混沌方法，以Ｈｅｎｏｎ映像为例进行了数值研究，获得了很好的控制结果。由于系统变量较大时参数作较大调整，故这种控制方法无须等待系统靠近待控的周期轨道时加入控制。因此，非线性微扰参数的自适应控制法优于线性微扰参数的自适应控制法     

抗磁悬浮振动能量采集器动力学响应的仿真分析

分析了微型抗磁悬浮振动能量采集器中悬浮磁体的受力特性,发现了能量采集器的单稳态和双稳态现象,研究了能量采集器在不同工作状态下该两种稳态类型时的动力学响应特性.当能量采集器处于非工作的单稳态状态时,其动力学响应是在线性系统的基础上加入非线性扰动、幅频响应曲线向右偏转;热解石墨板间距越大,非线性扰动越强烈,右偏现象则越显著.当能量采集器处于非工作的双稳态状态时,其动力学响应比较复杂,出现倍周期、4倍周期以及混沌等非线性系统特有的现象.当能量采集器处于工作状态的双稳态状态时,其振动频率和外界激励频率保持一致,进行周期振动.该研究对抗磁悬浮振动能量采集器的结构设计具有重要的参考价值,为提高能量采集器的响应特性和输出性能提供了理论指导.     

基于迟滞非线性补偿系统的光学元件形貌检测

为了减少相移干涉仪中压电陶瓷致动器进行相移时,其迟滞非线性对相移算法中的相位计算带来的误差,设计了一套压电陶瓷致动器的控制系统.利用高精度电阻应变传感器和基于锁相放大原理的信号调理电路检测压电陶瓷致动器位移,建立多项式数学模型描述迟滞非线性,然后提出了一种前馈开环控制方法补偿其迟滞非线性.最后,基于所提出的方案对压电陶瓷致动器进行了期望轨迹的跟踪控制实验,同时将补偿控制系统与干涉仪相结合检测光学元件表面形貌.实验结果表明:补偿后,压电陶瓷致动器的跟踪误差在-0.156μm与+0.078μm之间,迟滞非线性度由10.4%降到2.4%,且干涉仪所测得的光学元件表面面形起伏高度均方根和峰谷分别改变了0.795nm和3.937nm.该系统对于高精度的光学元件形貌检测具有重要的意义.     

车身顶棚振动独立模态控制研究

针对乘用车结构振动和噪声问题,对嵌入压电传感器和致动器的汽车顶棚进行了振动主动控制研究;对压电平板进行数学建模,通过有限元分析某国产乘用车车身顶棚模态振型,合理选择传感器和致动器增益,作为最小化振动响应这一目标函数的参数;控制器的设计应用了独立模态空间控制法,将压电传感器和致动器及独立模态空间控制法(IMSC)组成的控制系统应用于汽车顶棚振动主动控制,实验结果表明,即使当控制回路被电磁噪声干扰时,控制前后系统的振级相差可达到30%左右,取得了有效的振动抑制效果。     

船舶机械磁悬浮气囊混合隔振技术

有源无源混合隔振是控制船舶低频线谱噪声的重要技术,但工程应用的实例还非常少见。在磁悬浮-气囊混合隔振理论和原理样机研究的基础上,针对船用机械低频线谱的隔振需求,进一步突破了体积小、输出力大、功耗低、频响平直、波形失真度低等磁悬浮作动器工程化设计技术;解决了混合隔振器的稳定性和冲击、摇摆适应性等技术难题;研究了工程实用的控制算法,采用非线性逆模型补偿使控制系统线性化,并提出了窄带Fx-Newton时域算法,可在机械设备运行时的多线谱、多通道耦合、线谱振幅非稳态等情况下实现快速稳定控制;研制了船用200 kW柴发机组混合隔振装置,实验结果表明该技术具有优良的宽频隔振效果和低频线谱控制能力,性能可满足工程实用要求。     

Adaptive active control of periodic vibration using maglev actuators

In this paper, active control of periodic vibration is implemented using maglev actuators which exhibit inherent nonlinear behaviors. A multi-channel feedforward control algorithm is proposed to solve these nonlinear problems, in which maglev actuators are treated as single-input–single-output systems with unknown time-varying nonlinearities. A radial basis function network is used by the algorithm as its controller, whose parameters are adapted only with the model of the linear system in the secondary path. Compared with the strategies in the conventional magnetic-levitation system control as well as nonlinear active noise/vibration control, the proposed algorithm has the advantage that the nonlinear modeling procedure of maglev actuators and the usage of displacement sensors could be both avoided. Numerical simulations and real-time experiments are carried out based on a multiple-degree-of-freedom vibration isolation system. The results show that the proposed algorithm not only could efficiently compensate for the actuators’ time-varying nonlinearities, but also has the ability to greatly attenuate the energy of periodic vibration.     

Consideration of piezoceramic actuator nonlinearity in the active isolation of deterministic vibration

There is an increasing need to effectively control micro-vibration in such fields as metrology, optics and micro-electronics. This paper describes the design of an adaptive feedforward strategy for vibration isolation of harmonic disturbance using a piezoelectric actuator with hysteretic behavior. A nonlinear analytical model of the piezoelectric actuator including a ferroelectric-like behavior is built using a Preisach model of hysteresis. Pre-multiplication of a single-frequency reference signal by the nonlinear model of the stack is investigated in order to effectively compensate the actuator nonlinearity. It is observed that a simple linear model of the stack is sufficient in the adaptation of a filtered-X LMS feedforward controller to effectively compensate the actuator nonlinearity, provided the reference signal has frequency components at the disturbance frequency and its higher harmonics.     

Application of least mean square algorithm to suppression of maglev track-induced self-excited vibration

Track-induced self-excited vibration is commonly encountered in EMS (electromagnetic suspension) maglev systems, and a solution to this problem is important in enabling the commercial widespread implementation of maglev systems. Here, the coupled model of the steel track and the magnetic levitation system is developed, and its stability is investigated using the Nyquist criterion. The harmonic balance method is employed to investigate the stability and amplitude of the self-excited vibration, which provides an explanation of the phenomenon that track-induced self-excited vibration generally occurs at a specified amplitude and frequency. To eliminate the self-excited vibration, an improved LMS (Least Mean Square) cancellation algorithm with phase correction (C-LMS) is employed. The harmonic balance analysis shows that the C-LMS cancellation algorithm can completely suppress the self-excited vibration. To achieve adaptive cancellation, a frequency estimator similar to the tuner of a TV receiver is employed to provide the C-LMS algorithm with a roughly estimated reference frequency. Numerical simulation and experiments undertaken on the CMS-04 vehicle show that the proposed adaptive C-LMS algorithm can effectively eliminate the self-excited vibration over a wide frequency range, and that the robustness of the algorithm suggests excellent potential for application to EMS maglev systems.     

ACTIVE-PASSIVE PIEZOELECTRIC ABSORBERS FOR SYSTEMS UNDER MULTIPLE NON-STATIONARY HARMONIC EXCITATIONS

Previous research has shown that piezoelectric materials can be shunted with electrical networks to form devices that operate similarly to a mechanical vibration absorber. These systems can be tuned to provide modal damping (modal tuning) or to attenuate a harmonic disturbance (tonal tuning). Semi-active piezoelectric absorbers have also been proposed for suppressing harmonic excitations with varying frequency, a scenario that cannot be easily controlled using passive devices. However, these semi-active systems have limitations that restrict their applications. In a previous study, the authors have developed a high performance active-passive alternative to the semi-active absorber that uses a combination of a passive electrical circuit and active control actions. The active control consists of three parts: an adaptive inductor tuning action, a negative resistance action, and a coupling enhancement action. This new device has been shown, both analytically and experimentally, to be very effective for the suppression of harmonic disturbances with time-varying frequency. In the present paper, the adaptive active-passive piezoelectric absorber configuration is extended so that it can track and suppress multiple harmonic excitations. A new optimal tuning law is derived, and the stability conditions of the system are investigated. The effectiveness of this new multi-frequency absorber design is demonstrated by comparing its performance and control power requirement to the popular Filtered-x adaptive feedforward control algorithm.     

Asymptotic stabilization of a nonlinear axially moving string by adaptive boundary control

In this paper, a robust adaptive boundary control for an axially moving string that shows nonlinear behavior resulting from spatially varying tension is investigated. A hydraulic actuator equipped with a damper is used as the control actuator at the right boundary of the string. The Lyapunov redesign method is employed to derive a robust control algorithm employing adaptation laws that estimate three unknown system parameters (mass per unit length of string, lumped mass of hydraulic actuator, and damping coefficient of damper) and an unknown boundary disturbance. The uniform asymptotic stability (when the three parameters are all unknown), the exponential stability (when they are known), and the uniform ultimate boundedness (with a bounded boundary disturbance) of the closed loop system are investigated. The convergence of the parameter estimates to the true values is shown. Numerical simulations are performed to demonstrate the effectiveness of the proposed robust adaptive boundary control.     

Adaptive-passive vibration isolation between nonrigid machines and nonrigid foundations using a dual-beam periodic structure with shape memory alloy transverse connection

This paper examines the problem of broadband vibration control of nonrigid systems employing periodic structures with tunable parameters. It investigates this by using a semi-two-dimensional model that applies a dual-beam periodic structure with transverse branches as a parameter-tunable isolator. Conventional study of vibration control problems, including the problem of vibration control by periodic structures, usually reduces systems to equivalent single- or multi-mount models with only a unidirectional translation at a mounting point. This assumption of decoupling leads to the erroneous prediction of vibratory power transmission when designing an isolator for a nonrigid system. Such a periodic structure involves the coupling of vibrations between different mounting points and different directions of motion and is therefore a reasonable simulation of the real-life problem. However, its application as a periodic isolator has not been proposed previously. The configuration of shape memory alloy (SMA) branches and non-SMA dual beams is proposed in order that this structure can effectively exploit the advantages of SMA materials, namely their significantly varying Young?s moduli which can be tuned to adjust and widen the stop bands, and can prevent the associated limitation of hysteresis. Equations are derived governing the vibration transmitted through any number of periodic mounts between nonrigid machines and foundations. Based on the derived results, two methodologies are developed to determine the proper Young?s moduli of the SMA branches and minimize the transmitted power. The numerical results demonstrate that the adaptive SMA branches at the proper temperatures are able to attenuate broadband vibration by adjusting the locations and broadening the widths of stop bands. With the application of a semi-two-dimensional periodic structure to broadband vibration isolation, this paper provides an approach and supporting methodologies for broadband vibration control using periodic structures.     

Intelligent active vibration control in an isolation platform

This paper presents the study on the vibration attenuation in an isolated platform by combining multi-layer perception (MLP) neural network, radial basis function (RBF) neural network, cerebella model articulation controller (CMAC) neural network and fuzzy neural networks (FNN) with error back propagation algorithm to control voice coil actuator. Usually, the methods in past time to control vibration were mainly designed by using mathematical models, which must be nearly close to the actual plant models. As regards to these utilized control methods, the most important advantage of them are that they have capability of self tuning the parameters of controllers and could adapt the changes of the environments. The performance of attenuation and control effectiveness can be evaluated by placing the accelerator to measure the amplitude at the center of the isolated platform. The experimental results in this study show that the control methods as adopted could greatly attenuate the vibration of resonance and external disturbance in an isolation platform.     

Self-powered active vibration control using a single electric actuator

The authors have proposed self-powered active vibration control systems that achieve active vibration control using regenerated vibration energy. Such systems do not require external energy to produce a control force. This paper presents a self-powered system in which a single actuator realizes active control and energy regeneration.The system proposed needs to regenerate more energy than it consumes. To discuss the feasibility of this system, the authors proposed a method to calculate the balance between regenerated and consumed energies, using the dynamical property of the system, the feedback gain of the active controller, the specifications of the actuator, and the power spectral density of disturbance. A trade-off was found between the performance of the active controller and the energy balance. The feedback gain of the active controller is designed to have good suppression performance under conditions where regenerated energy exceeds consumed energy.A practical system to achieve self-powered active vibration control is proposed. In the system, the actuator is connected to the condenser through relay switches, which decide the direction of the electric current, and a variable resistor, which controls the amount of the electric current. Performance of the self-powered active vibration was examined in experiments; the results showed that the proposed system can produce the desired control force with regenerated energy, and that it had a suppression performance similar to that of an active control system using external energy. It was found that self-powered active control is attainable under conditions obtained through energy balance analysis.     

基于自抗扰算法的“动中通”系统控制策略

动中通”(SOTM)伺服控制系统通常采用三闭环PID控制策略进行控制器的设计;然而,由于系统扰动和系统时变性参数的存在,传统PID算法难以保证“动中通”系统稳定、可靠地工作;针对传统控制策略的弊端,建立了“动中通”系统数学模型,并提出了一种基于自抗扰(ADRC)算法的双闭环控制策略;仿真实验表明,基于ADRC的双闭环控制策略不仅具有更快的响应速度和更高的控制精度,还有更强的鲁棒性,能有效地弱化系统扰动的影响,满足“动中通”系统的功能需求。     

Robust adaptive synchronization for a general class of uncertain chaotic systems with application to Chua's circuit

The synchronization problem for a general class of uncertain chaotic systems is addressed. The underlying systems may be perturbed by unknown time-varying parameters, unstructured uncertainties, and external disturbances. Meanwhile, the time-varying parameters and disturbances are neither required to be periodic nor to have known bounds. Assuming the disturbances are L(2) signals, an adaptive control incorporated with H(∞) control technique is employed to construct a robust adaptive synchronization algorithm. Then, removing such assumption, a novel adaptive-based method is developed to achieve the goal of synchronization. In order to demonstrate the effectiveness of the proposed algorithms, such methods are applied to solve the synchronization problem of uncertain chaotic Chua's circuits.