内模控制及其在机构振动主动控制中的应用

振动主动控制通常采用最优控制，文中根据柔性机构的特点，采用内模控制策略。内模控制主要适合于具有周期性扰动信号的调节问题和具有周期性参考信号的跟踪问题，它的优点是对控对象参数具有鲁棒性，克服了最优控制需要精确掌握被控对象参数的缺点，文中首先介绍了内模控制的基本原理，然后给出了数值仿真结果，最后将算法应用柔性四连杆机构振动主动控制试验中，试验结果证明了方案的可行性。

Experiments on Internal Model Vibration Control of a Flexible Four Bar Linkage Mechanism

Optimal control is usually used in the fields of active vibration control. According to characteristics of flexible mechanism, internal model control strategy is adopted in the paper. Internal model control is suited for regulation problem with periodic disturbance and tracking problem with periodic reference signal. It has robustness with respect to parameter perturbation of the controlled plant. This avoids precise acquisition of plant parameters which is an important demand for optimal control. First, basic principle of internal model control is introduced, then, numerical simulations are conducted. At last, the algorithm is implemented in active vibration suppression of a four bar linkage mechanism. Feasibility of the strategy is confirmed both by simulations and by experiments.