基于分析传函的有源力控FLMS算法研究

针对结构振动和声辐射有源控制中对误差传函现有建模方法的不足 ,本文对该系统的物理通道进行了分析建模 ,形成了基于分析传函模型的 FLMS算法 ,该分析传函模型中充分包含了结构的振动模态信息 ,无论激励力源是单频还是宽频激励力源 ,该模型都可以在实施 FLMS算法之前确定所需参数。随后在该算法的计算机模拟实验中 ,通过与时延估计法的比较 ,表明该方法扩大了步长因子的取值范围 ,扩大了收敛域 ,该模型的建立为有效实施有源控制的自适应算法提供了一条新的途径。     

Adaptive Control of Nonlinear Dynamical Systems Using a Model Reference Approach

In this paper we consider using a model reference adaptive control approach to control nonlinear systems. We consider the controller design and stability analysis associated with these type of adaptive systems. Then we discuss the use of model reference adaptive control algorithms to control systems which exhibit nonlinear dynamical behaviour using the example of a Duffing oscillator being controlled to follow a linear reference model. For this system we show that if the nonlinearity is small then standard linear model reference control can be applied. A second example, which is often found in synchronization applications, is when the nonlinearities in the plant and reference model are identical. Again we show that linear model reference adaptive control is sufficient to control the system. Finally we consider controlling more general nonlinear systems using adaptive feedback linearization to control scalar nonlinear systems. As an example we use the Lorenz and Chua systems with parameter values such that they both have chaotic dynamics. The Lorenz system is used as a reference model and a single coordinate from the Chua system is controlled to follow one of the Lorenz system coordinates.     

基于自适应神经元的结构振动智能PID控制

首先提出基于自适应神经元的振动智能ＰＩＤ控制策略及相应高效算法，然后通过数字仿真与模型实验验证了这种算法的有效性。这种方法具有控制器参数少、结构简单、算法收敛速度快、便于实时控制等优点。与传统ＰＩＤ控制相比，控制器参数整定可通过神经网络的自组织来实现。数字仿真与实验结果表明这种方法能够有效地控制动态特性未知、所受干扰不可测的黑箱振动系统的任意振动     

结构试验机的神经网络内模自适应跟踪控制系统

针对结构试验系统的非线性和不确定性特性，研究了一种基于神经网络的非线性内模自适应加载控制方法。引入的神经网络内模可跟踪学习对象的时变动力学，控制器的设计较少依赖于对象的先验知识，控制参数的调整是基于被控过程的测量信息，利用导出的神经网络算法来实现的。实验结果证明该系统具有良好的控制效果。     

带有轴间动力学解耦的三轴转台自适应控制

针对某型号转台存在的轴间非线性耦合，运用非线性解耦的方法进行了解耦设计，并基于解耦后的系统提出用超稳定性和正性的方法进行自适应模型跟随控制器设计，来解决系统在运行过程中参数发生变化对控制性能影响的问题。仿真结果表明，当系统参数在一定范围变化甚至被控对象模型阶次发生变化时，所设计的自适应模型跟随控制器仍能保证系统具有良好的控制性能。     

挠性自适应结构振动控制的分析与实验研究

采用自适应结构的原理和方法,对压电元件用于挠性结构振动控制的一些问题进行了探讨。对压电驱动器与结构的匹配关系进行了理论分析,对模态传感/驱动器在挠性悬臂板结构中的布置方案进行了优化设计,并进行了结构的振动控制实验,从而验证了方法的有效性     

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。     

A Theoretical and Experimental Implementation of a Control Method Based on Saturation

A novel approach for implementing an active nonlinear vibration absorber is presented. The absorber, which is built in electronic circuitry, takes advantage of the saturation phenomenon that occurs when two natural frequencies of a system with quadratic nonlinearities are in the ratio of two-to-one. When the system is excited at a frequency near the higher natural frequency, there is a small ceiling for the system response at the higher frequency and the rest of the input energy is channeled to the low-frequency mode.A working model of using saturation to suppress the vibrations of a rigid beam connected to a DC motor has been built. An electronic oscillator is built, and its frequency is set at one-half the frequency of the beam. The output from a sensor on the beam is multiplied by the output from the electronic oscillator and a suitable gain, and the result is used as the forcing term for the oscillator. At the same time, the output from the oscillator is squared and multiplied by a suitable gain, and that result is used as the input to the motor. The oscillator/actuator and the beam act as the two modes of a two-degree-of-freedom quadratically coupled system with a 2:1 autoparametric resonance. When the beam is excited by a harmonic force, its motion quickly becomes saturated, and most of the energy imparted to the beam by the harmonic force is transferred to the electronic circuit and from there to the actuator. Thus, the harmonic force is made to work against itself. As a result, the motion of the beam always remains small.     

基于浸入与不变原理的四旋翼姿态系统反步滑模控制

针对较大幅度外部不确定扰动下的四旋翼姿态稳定问题,设计了一种基于浸入与不变原理(ⅠⅠ)的自适应反步滑模控制器(ABSMC)。首先建立了未知大扰动下四旋翼姿态系统动力学模型,然后以横滚角子系统搭建为例,设计并应用了反步法和基于趋进率的滑模控制策略。在扰动估计误差流型设计中,融合了ⅠⅠ原理,即自适应率的选取实现了误差流型的不变和吸引,确保估计误差收敛到0。最后,对系统进行了稳定性分析和数字仿真。结果表明,在较大未知扰动情况下,融合ⅠⅠ原理方法后,经10 s所测跟踪误差平方的累加和仅为传统ABSMC方法的11.2%,控制精度大幅提高。     

旋转楔形-回形梁的高次动力学建模和末端变形分析

对四种不同结构中心刚体-柔性Euler Bernoulli梁系统进行刚柔耦合动力学分析．其中以等截面梁、变截面梁、等截面回形梁、变截面回形梁为对象,研究楔形梁及回形梁对系统的末端变形位移影响．变截面梁的宽高尺寸沿着轴向线性变化．梁的变形包含了轴向、横向、耦合变形项（横向弯曲引起的纵向缩短）．采用假设模态法和第二类Lagrange方程建立系统的动力学方程,并用C++编写软件进行动力学仿真．研究表明：在相同条件下,梁的截面尺寸及空心部分对梁末端变形位移影响十分明显,且当梁在较大变形情况下,该高次耦合模型依然能得到正确的结果,因此在针对实际结构建模时,建立符合实际截面的模型至关重要．     

Mathematical Modeling,Control, Computer Simulation and Laboratory Experiments of a Spatial Servopneumatic Parallel Robot

In this paper (Part I), the special construction of a controlled parallel structure, called spatial servopneumatic multi-axles test facility (MAP), will be theoretically and numerically investigated and controlled. The investigations include the following steps: (i) design of mathematical models of different complexity of both, the test facility mechanics in terms of DAEs and ODEs (a multi-body system which contains 13 rigid bodies under spatial motion, connected by joints), and the servopneumatic actuators; (ii) construction of different linear and nonlinear (model based) control algorithms; (iii) development of a computer simulation program of the MAP; and (iv) evaluation of various computer simulation runs, obtained by applying different control algorithms and spatial command-input signals. The results show that the efficiency of the control algorithms is closely related to their complexity and cost. In order to check the closeness to reality of the computer simulation results and their benefit for industrial applications, laboratory experiments must be formed with the same MAP, the same control algorithms, and applying the same command-input signals which have been used in the computer simulations. These experimental investigations will be presented in Part II of the paper.     

Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.     

电冰箱减振,降噪的试验分析

介绍了电冰箱的多种振动和噪声测量试验，包括：振动频谱分析、模态分析、嗓声标准试验、噪声频谱分析和声强测量等．通过分析振动和噪声的试验结果，找出了产生噪声的主要部件和位置，并且提出了一些合理的改进措施．试验证明：改变压缩机壳体顶盖（主式压缩机）的刚度、阻尼参数和壳体在机箱上的固定方式，以及在压缩机附近采用吸声材料，都是改善电冰箱压缩机噪声的有效途径．     

Internal Heating Effect and Enhancement of Drying of Ceramics by Microwave Heating with Dynamic Control

The effectiveness of internal heating for enhancing the drying of molded ceramics is evaluated by both modeling and experiments. In the theoretical analysis, three dimensional drying-induced strain–stress are modeled, and the numerical solutions show that the internal heating generates lower internal stress than continuous convective heating or intermittent convective heating. Microwave drying is examined experimentally to study the effect of internal heating on the drying behavior of a wet sample of a kaolin slab. The drying behavior is compared among three modes: microwave heating, hot air heating and radiation heating. The transient behavior of temperatures in microwave drying is quite different from conventional drying by external heating. In particular, the temperature of the slab drops once in the progress of drying. This phenomenon cannot be predicted adequately by a simple model of one-dimensional heat conduction and moisture diffusion accompanied with an internal heat generation rate given as a linear function of the moisture content. It should be noted that the temperature behavior takes place due to the combined interactions with internal evaporation of moisture by rise in internal vapor pressure and shift of impedance or interference in the applicator. Microwave heating with a constant power above 100 W results in sample breakage due to the internal vapor pressure. However, if the power is dynamically controlled so as to maintain the temperature less than the boiling point of water, the drying succeeds without any crack generation until completion with a significantly faster drying rate than drying in convective heating or in the oven.     

基于软弹流润滑模型的液压格莱圈密封性能分析

基于软弹流理论建立了液压往复格莱圈密封的数值分析模型,该耦合模型包括流体力学、接触力学、变形和热分析.数值求解获得了密封区域的膜厚、流体压力和接触压力分布,以及单个行程的流量和活塞杆表面的摩擦力,揭示了液压往复格莱圈密封的密封机理.通过参数化进一步分析了不同密封表面均方根粗糙度、密封压力和往复速度对密封性能的影响.结果表明:在本研究中,密封区域表现为混合润滑状态,且以微凸体接触摩擦为主;较小的密封表面均方根粗糙度值具有较好的密封性能,增大密封压力会导致泄漏量和摩擦力均增加,而增大往复速度有利于减小泄漏量.     

用改进的基于质点速度测量的拉格朗日分析方法研究尼龙动态力学特性

采用改进的基于质点速度波形测量的拉格朗日分析方法,研究了率型材料的动态力学性能.首先用高磁感应强度的钕铁硼强滋材料研制出新型磁电式粒子速度计,其性能高于前人文献所报道的性能.其次,在理论分析和数值模拟的基础上得出,用实测的质点速度波形来求应力波形时,实测的应力边界是不可缺少的.在实际研究中,要同时测得质点速度以及应力量...     

磁流变弹性体自调谐式吸振器及其优化控制

本文研制了一种基于磁流变弹性体的自调谐式吸振器，它利用磁流变弹性体这种新型智能材料作为吸振器的弹性元件和阻尼元件，通过外加磁场控制磁流变弹性体的剪切模量来改变吸振器的固有频率，实现吸振器的移频。并将遗传算法改进移植到吸振器，对其进行优化控制。实验结果表明，这种遗传算法具有全局搜索和快速收敛的特点，它能使吸振器快速找到吸振器减振效果最佳点，并且经过优化控制的磁流变弹性体自调谐式吸振器在移频范围内具有很好的减振效果，减振效果最高可达25dB。     

Dynamic modelling and active vibration control of a submerged rectangular plate equipped with piezoelectric sensors and actuators

The active vibration control of a rectangular plate either partially or fully submerged in a fluid was investigated. Piezoelectric sensors and actuators were bonded to the plate, and the assumed mode method was used to derive a dynamic model for the submerged plate. The properties of the piezoelectric actuators and sensors, as well as their coupling to the structure, were used to derive the corresponding equations of their behaviour. The fluid effect was modelled according to the added virtual mass obtained by solving the Laplace equation. The natural vibration characteristics of the plate both in air and in water were obtained theoretically and were found to be consistent with the experimental results, and the changes in the natural frequencies resulting from submersion in fluid can be accurately predicted. A multi-input, multi-output positive position feedback controller was designed by taking the natural vibration characteristics into account and was then implemented by using a digital controller. The experimental results show that piezoelectric sensors and actuators along with the control algorithm can effectively suppress the vibration of a rectangular plate both in air and submerged in a fluid.     

基于凸模型和伪概率分布的不确定性结构响应分析

针对传统凸模型方法分析不确定性结构时仅给出结构响应边界的局限性,论文结合基于体积比的伪概率度量和一次二阶矩提出一种结构响应不确定性量化的新方法.该方法在准确求解不确定性结构响应上下界的同时,给出了结构响应在上下界内的伪概率分布.首先利用椭球凸模型对结构不确定性进行建模,结构响应关于不确定性参数的传播方程将椭球分割成两个区域,则分割区域体积与椭球域总体积之比可作为伪概率来度量结构响应的不确定性;其次,用一次二阶矩法序列求解结构响应不确定性传播方程,有效获取最可能展开点及相应分割区域的近似体积.最后,通过一个典型的六杆桁架结构算例与传统凸模型方法和蒙特卡洛法进行比较,验证了论文方法对不确定性结构响应量化的有效性和优越性.     

基于速率偏频激光陀螺的双套惯性组合系统故障监控技术研究

在三轴整体式速率偏频激光陀螺无法进行输出轴冗余配置的情况下，为实现陀螺的元件级故障检测与隔离，提出了由三轴整体式速率偏频激光陀螺和挠性陀螺组构成的双惯性系统的故障检测与隔离方案，给出了双惯性系统的量测方程，并以此为基础推导了用于进行故障检测与隔离的奇偶方程。提出一种基于奇偶方程的双惯性系统故障检测与隔离方法，并针对一类无法用奇偶方程进行隔离的故障，给出一种搜索无故障陀螺输出轴的故障检测与隔离新方法。