反扰力振动控制理论及其在井塔消振中的应用

应用反扰力振动控制方法，通过施加一个与原扰力在相位上相反的控制力，来抵消原扰力对结构的影响。此法用于实际的矿井井塔建筑结构消振工程，取得了消振９０％以上的显著效果，从而证实了此法的正确性和有效性。此法在动力荷载扰力作用下的建筑结构振动控制工程中，具有重要的应用价值     

Control strategy of optimal deployment for spacecraft solar array system with initial state uncertainty

A control strategy combining feedforward control and feedback control is presented for the optimal deployment of a spacecraft solar array system with the initial state uncertainty. A dynamic equation of the spacecraft solar array system is established under the assumption that the initial linear momentum and angular momentum of the system are zero. In the design of feedforward control, the dissipation energy of each revolute joint is selected as the performance index of the system. A Legendre pseudospectral method (LPM) is used to transform the optimal control problem into a nonlinear programming problem. Then, a sequential quadratic programming algorithm is used to solve the nonlinear programming problem and offline generate the optimal reference trajectory of the system. In the design of feedback control, the dynamic equation is linearized along the reference trajectory in the presence of initial state errors. A trajectory tracking problem is converted to a two-point boundary value problem based on Pontryagin’s minimum principle. The LPM is used to discretize the two-point boundary value problem and transform it into a set of linear algebraic equations which can be easily calculated. Then, the closed-loop state feedback control law is designed based on the resulting optimal feedback control and achieves good performance in real time. Numerical simulations demonstrate the feasibility and effectiveness of the proposed control strategy.     

微型斯特林制冷机振动主动控制

本文研究了微型斯特林制冷机的振动主动控制问题,设计了一种全新的减振方案,即用直线电机推动一个质量平衡块来抑制制冷机的振动,采用基于前馈的自寻优控制器,控制算法由DSP芯片实现,使用该方案,制冷机的振动水平减小了一个数量级。     

An anti-disturbance PD control scheme for attitude control and stabilization of flexible spacecrafts

This paper studies the attitude control problem of spacecrafts with flexible appendages. It is well known that the unwanted vibration modes, model uncertainty and space environmental disturbances may cause degradation of the performance of attitude control systems for a flexible spacecraft. In this paper, the vibration from flexible appendages is modeled as a derivative-bounded disturbance to the attitude control system of the rigid hub. A disturbance-observer-based control (DOBC) is formulated for feedforward compensation of the elastic vibration. The model uncertainty and space environmental disturbances as well as other noises are merged into an “equivalent” disturbance. We design a composite controller with a hierarchical architecture by combining DOBC and PD control, where DOBC is used to reject the vibration effect from the flexible appendages. Numerical simulations are performed to demonstrate that by using the composite hierarchical control law, disturbances can be effectively attenuated and the robust dynamic performances be enhanced.     

Modeling of stochastic modulated rattling system

Rattling vibration is an important noise source of gear-box. To control that noise, it is necessary to elaborate a mathematics-mechanical model on rattling gears. In this paper, a rattling system modulated by noise was investigated. Instead of performing the very tedious numerical calculation, a discrete stochastic model described by three dimensional mean mapping was established by means of the Non-Gaussian closure technique. Through the example, the chaotic stochastic behavior may be revealed. In comparison with deterministic model, the model developed in this paper is more approximate to practice and more available for acoustic investigation, so that it is suggested to be applied to modeling on rattling vibration.     

Control of underactuated mechanical systems with servo-constraints

This paper deals with a class of controlled mechanical systems in which the number of control inputs, equal to the number of desired system outputs, is smaller than the number of degrees of freedom. The related inverse dynamics control problem, i.e., the determination of control input strategy that force the underactuated system to complete the partly specified motion, is a challenging task. In the present formulation, the desired system outputs, expressed in terms of the system states, are treated as servo-constraints on the system, and the problem is viewed from the constrained motion perspective. Mixed orthogonal-tangent realization of the constraints by the available control reactions is stated, and a specialized methodology for solving the “singular” control problem is developed. The governing equations are manipulated to index three differential-algebraic equations, and a simple numerical code for solving the equations is proposed. The feedforward control law obtained as a solution to these equations can then be enhanced by a closed-loop control strategy with feedback of the actual servo-constraint violations to provide stable tracking of the reference motion in the presence of perturbations and modeling uncertainties. An overhead trolley crane executing a load-prescribed motion serves as an illustration. Some results of numerical simulations are reported.     

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。     

Control structure interaction in the nonlinear analysis of flexible mechanical systems

The effect of the control structure interaction on the feedforward control law as well as the dynamics of flexible mechanical systems is examined in this investigation. An inverse dynamics procedure is developed for the analysis of the dynamic motion of interconnected rigid and flexible bodies. This method is used to examine the effect of the elastic deformation on the driving forces in flexible mechanical systems. The driving forces are expressed in terms of the specified motion trajectories and the deformations of the elastic members. The system equations of motion are formulated using Lagrange's equation. A finite element discretization of the flexible bodies is used to define the deformation degrees of freedom. The algebraic constraint equations that describe the motion trajectories and joint constraints between adjacent bodies are adjoined to the system differential equations of motion using the vector of Lagrange multipliers. A unique displacement field is then identified by imposing an appropriate set of reference conditions. The effect of the nonlinear centrifugal and Coriolis forces that depend on the body displacements and velocities are taken into consideration. A direct numerical integration method coupled with a Newton-Raphson algorithm is used to solve the resulting nonlinear differential and algebraic equations of motion. The formulation obtained for the flexible mechanical system is compared with the rigid body dynamic formulation. The effect of the sampling time, number of vibration modes, the viscous damping, and the selection of the constrained modes are examined. The results presented in this numerical study demonstrate that the use of the driving forees obtained using the rigid body analysis can lead to a significant error when these forces are used as the feedforward control law for the flexible mechanical system. The analysis presented in this investigation differs significantly from previously published work in many ways. It includes the effect of the structural flexibility on the centrifugal and Coriolis forces, it accounts for all inertia nonlinearities resulting from the coupling between the rigid body and elastic displacements, it uses a precise definition of the equipollent systems of forces in flexible body dynamics, it demonstrates the use of general purpose multibody computer codes in the feedforward control of flexible mechanical systems, and it demonstrates numerically the effect of the selected set of constrained modes on the feedforward control law.     

轻型火箭发射噪声场的分布特性

为了解小火箭发射噪声特性及其在喷口外围的声压场分布规律,针对燃气射流产生噪声问题进行了实验研究和数值计算。讨论了超声速射流噪声的3个主要成分(湍流混合噪声、啸音和宽带激波相关噪声)及相关特点,指出它们产生的根本原因是湍流射流的速度扰动。通过分析不同实验测点的射流噪声声压级峰值,得到了燃气射流噪声在轴向和径向上的分布规律,即随着离喷口距离的增大,轴向噪声的衰减程度大于径向。在实验基础上,利用大涡模拟与FW-H(Ffowcs Williams-Hawkings)声学比拟相结合的方法对燃气射流噪声的声学特性进行计算。结果表明,此方法获得的计算结果与实验结果吻合较好,可为进一步研究射流噪声控制提供参考。     

转子系统振动的CSFDB主动控制实验研究

采用可控挤压油膜阻尼器作为主控元件,进行转子系统振动主动控制研究,设计开发了锥形可控挤压油膜阻尼器（Controllable Squeeze Film Damping Bearing,CSFDB).CSFDB的外环轴向位置通过专门设计的电液伺服系统来调节其平淡同的轴向位置对应不同的油膜间隙,使转子系统、CSFDB、电液伺 服系统形成一个闭环控制系统,即主动控制转子系统的振动,本文的实验研究工作内容有,CSFDB-转子系统振动特性实验研究;CSFDB-转子系统加、减速振动特性试验研究;转子系统振动的CSFDB主动控制实验研究。转子模型为一单盘悬臂转子,研究结果表明,CSFDB控制效果明显,所研制的控制仪工作可靠,能满足实时必研究;CSFDB外环位置调节系统设计思路可行,性能可靠避孕药推广应用前景。     

压电智能梁振动控制的优化设计

本文研究了压电智能梁振动控制中压电传感作动元件的优化设计,并考虑了控制增益和结构阻尼的影响。采用负速度反馈控制策略及等效阻尼比优化准则。对简支梁和悬臂梁采用遍历搜索的方法计算了不同增益和结构阻尼下的优化,结果对进一步研究优化设计和振动控制有一定的参考价值。     

Sliding mode maneuvering control and active vibration damping of three-axis stabilized flexible spacecraft with actuator dynamics

This paper presents a dual-stage control system design method for the three-axis-rotational maneuver control and vibration stabilization of a spacecraft with flexible appendages embedded with piezoceramics as sensor and actuator. In this design approach, the attitude control system and vibration suppression were designed separately using a lower order model. Based on the sliding mode control (SMC) theory, a discontinuous attitude control law in the form of the input voltage of the reaction wheel is derived to control the orientation of the spacecraft actuated by the reaction wheel, in which the reaction wheel dynamics is also considered from the real applications point of view. The asymptotic stability is shown using Lyapunov analysis. Furthermore, an adaptive version of the proposed attitude control law is also designed for adapting the unknown upper bounds of the lumped disturbance so that the limitation of knowing the bound of the disturbance in advance is released. In addition, the concept of varying the width of boundary layer instead of a fixed one is also employed to eliminate the chattering and improve the pointing precision as well. For actively suppressing the induced vibration, modal velocity feedback and strain rate feedback control methods are presented and compared by using piezoelectric materials as additional sensors and actuators bonded on the surface of the flexible appendages. Numerical simulations are performed to show that rotational maneuver and vibration suppression are accomplished in spite of the presence of disturbance torque and parameter uncertainty.     

运动柔性梁振动主动控制的有限段法分析

基于柔性梁的多刚性－弹簧系统模型，采用分段线性化的思想，由线性二次优化理论导出了有闭环反馈控制的以分段压电片为执行器的平面运动柔性杆梁结构非线性振动的主动控制的分析方法。两个算例验证了所提方法的有效性。     

On Fractional Adaptive Control

Introducing fractional operators in the adaptive control loop, and especially in Model Reference Adaptive Control (MRAC), has proven to be a good mean for improving the plant dynamics with respect to response time and disturbance rejection. The idea of introducing fractional operators in adaptation algorithms is very recent and needs to be more established, that is why many research teams are working on the subject. Previously, some authors have introduced a fractional model reference in the adaptation scheme, and then fractional integration has been used to deal directly with the control rule. Our original contribution in this paper is the use of a fractional derivative feedback of the plant output, showing that this scheme is equivalent to the fractional integration, one with a certain benefit action on the system dynamical behaviour and a good robustness effect. Numerical simulations are presented to show the effectiveness of the proposed fractional adaptive schemes.     

Dynamics and control of a self-sustained electromechanical seismographs with time-varying stiffness

This paper is concerned with the nonlinear dynamics and vibration control of an electromechanical seismograph system with time-varying stiffness. The instrument consists of an electrical part coupled to mechanical one and is used to record the vibration during earthquakes. An active control method is applied to the system based on cubic velocity feedback. The electromechanical system is subjected to parametric and external excitations and modeled by a coupled nonlinear ordinary differential equations. The method of multiple scales is used to obtain approximate solutions and investigate the response of the system. The results of perturbation solution have been verified through numerical simulations, where different effects of the system parameters have been reported.     

可控约束阻尼层板的控制实验研究

对具有可控约束阻尼层的板进行了振动控制实验研究． 以压电片作为作动器,根据测量的结构振动信号,反馈控制约束层的变形,抑制板的振动． 对试验件进行了试验模态分析,讨论了压电片的附加位置;采用比例反馈对试验件进行了控制试验;试验给出了控制效果和压电片面积的关系． 研究结果证明,这种利用粘弹性阻尼抑制结构的高频振动,利用压电材料的逆压电效应控制结构的低频振动的主被动杂交控制方式对薄壁结构的振动抑制效果显著,控制频率范围宽,可靠性高．     

Experimental study of delayed positive feedback control for a flexible beam

Recently, some researches indicate that positive feedback can benefit the control if appropriate time delay is intentionally introduced into control system. However, most work is theoretical one but few are experimental. This paper presents theoretical and experimental studies of delayed positive feedback control technique using a flexible beam as research object. The positive feedback weighting coefficient is designed by using the optimal control method. The available time delay is determined by analyzing the maximal real part of characteristic roots of the system. A DSP-based experiment system is introduced. Simulation and experimental results indicate that the delayed positive feedback control may effectively reduce the beam vibration if time delay is appropriately selected.     

On the Control of the Friction Force

This paper tackles the problem of controlling the Coulomb friction force in order to achieve damping characteristics which can be advantageous in engineering applications, particularly in the area of vibration control, for example, vehicle suspensions, rotating machinery foundations or earthquake protection systems. The control schemes employed belong to the family of variable structure controllers (VSC), a class of robust control algorithms, namely sliding mode control (SMC) and switched state feedback (SSF). The schemes perform force tracking control, aiming at making the friction force track a reference force in order to reduce the acceleration experienced by a suspended mass. The plant investigated is a 2-degree of freedom system and in this study represents a quarter car. The controller performances are investigated both numerically and experimentally.     

浮筏多通道协调振动主动控制实验研究

在浮筏上引入主动吸振器可以有效地改善其低频减振性能.建立了带有4个主动吸振器的浮筏振动主动控制实验系统;以提高系统低频减振性能为目标,研究了4个主动吸振器的协调控制问题.首先,通过实验建模获得系统的时域脉冲序列模型;在此基础上设计了基于多通道滤波x-最小均方(Least Mean Square,LMS)算法的自适应前馈控制律;最后,在实验系统上进行了4个目标点的多通道协调主动吸振控制实验,在15～25Hz频段内基本上都取得了15dB以上的主动减振效果.实验结果证明了多吸振器协调主动控制对提高浮筏低频减振能力的有效性.     

可控约束阻尼层板的杂交控制

用局部压电层控制约束阻尼约束层产生一种新的主、被动杂交控制形式,称为可控制 约束层。本文根据弹性材料、粘弹性材料、压电材料的本构关系和变形连续条件,建立了可控约束阻尼层板的控制微方程;从理论上证明了用离散小压电片组合来代替整体压电层而不影响作动效果,改善了结构的工艺性;利用Ｇａｌｅｒｋｉｎ方法和ＧＨＭ方法建立了系统的近似低阶方程对一试验模型进行了控制数值模拟和试验实现,结果表明这种杂交控制对控制