柴油机双层隔振台架主动隔振技术研究
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摘要
本文围绕柴油机双层液压主动隔振台架,就振动主动控制策略、作动器和控制对象三个方面的问题进行了深入研究,主要工作如下:
由于柴油机双层隔振台架液压作动器的非线性特性,导致误差通道存在着严重的非线性,是影响主动隔振效果的主要因素。本文对误差通道的非线性进行深入研究,提出了预补偿模型参考自适应逆控制(PCMRAIC)策略,实现了柴油机双层液压主动隔振台架误差通道的线性化。
非线性误差通道的系统辨识是PCMRAIC策略的关键环节。本文对非线性系统辨识理论和方法进行深入研究,提出了频域分阶(FDNOU)非线性辨识方法。利用该辨识方法针对柴油机双层液压主动隔振台架,基于稳态扫频试验获得了误差通道的参数估计。
结合PCMRAIC策略和自适应陷波算法,提出改进的自适应陷波算法,并在柴油机双层液压主动隔振台架上进行了主动隔振试验研究。试验结果表明:在柴油机稳定工作转速下,改进的自适应陷波算法消减了误差通道非线性的影响,对基频振动获得了20dB～35dB控制效果的同时有效地抑制了谐频响应,且均衡了台架四个基脚的振动,从而获得了较好的整机隔振效果。
就柴油机双层液压主动隔振台架,还进行了以下研究:1、通过线性系统能量建模、数值仿真和试验研究分析了主、被动隔振系统的特性;2、通过改进的自适应陷波算法及其主动隔振试验研究详细分析了误差通道的相频特性、辨识模型、线性化参考模型和预补偿器模型等对主动隔振效果的影响。研究结果表明:在充分考虑各个影响因素的前提下,能够获得柴油机双层液压主动隔振台架较理想的基频隔振效果。
Basing on diesel two-stage hydraulic active vibration isolation mounting, control strategy, actuator and control object in active vibration control technology are deeply investigated in this dissertation, and the main work is described as follows:
For the current mounting, nonlinearity of hydraulic actuator, which results in heavy nonlinearity of the secondary path, is the dominant factor to influence the effectiveness of active vibration isolation. After intensive studying on nonlinearity of the secondary path is implemented, model reference adaptive inverse control with pre-compensator (PCMRAIC) strategy is proposed, and linearization process of the secondary path of the current mounting is realized in this dissertation.
Nonlinear system identification of the secondary path is one of the key parts in PCMRAIC strategy. After intensive studying on nonlinear system identification theory and method, frequency-domain nonlinear order-uncoupled (FDNOU) system identification method is proposed in this dissertation. This nonlinear system identification method is employed on the current mounting, and then system parameter of the secondary path is evaluated by steady sweep tests.
Combining PCMRAIC strategy and adaptive notch filter algorithm, the improved adaptive notch filter algorithm is proposed and applied to active vibration control experimental research of the current mounting in this dissertation. Results of active vibration control experiment show that: under each working rotation speed of diesel engine, nonlinearity of the secondary path is weakened by employing the improved adaptive notch filter algorithm, harmonic frequency response is effectively suppressed while obtaining 20～35dB attenuation on fundamental frequency vibration, vibrations of four mounting-feet are balanced, so a good vibration isolation performance on the whole mounting is consequently obtained.
To the current mounting, the following investigations are conducted: 1. characteristics of active and passive vibration isolation systems are analyzed by presenting linear system energy modeling, numerical simulation and its corresponding experiment; 2. some influence factors, e.g. phase-frequency characteristic of the secondary path, linearization reference model, identification model of the secondary path and pre-compensator model etc., are discussed in detail by considering the improved adaptive notch filter algorithm and its experimental results. The results show that: better vibration isolation performance at fundamental frequency of the mounting is obtained by the improved adaptive notch filter algorithm when fully considering each influence factor.
由于柴油机双层隔振台架液压作动器的非线性特性,导致误差通道存在着严重的非线性,是影响主动隔振效果的主要因素。本文对误差通道的非线性进行深入研究,提出了预补偿模型参考自适应逆控制(PCMRAIC)策略,实现了柴油机双层液压主动隔振台架误差通道的线性化。
非线性误差通道的系统辨识是PCMRAIC策略的关键环节。本文对非线性系统辨识理论和方法进行深入研究,提出了频域分阶(FDNOU)非线性辨识方法。利用该辨识方法针对柴油机双层液压主动隔振台架,基于稳态扫频试验获得了误差通道的参数估计。
结合PCMRAIC策略和自适应陷波算法,提出改进的自适应陷波算法,并在柴油机双层液压主动隔振台架上进行了主动隔振试验研究。试验结果表明:在柴油机稳定工作转速下,改进的自适应陷波算法消减了误差通道非线性的影响,对基频振动获得了20dB～35dB控制效果的同时有效地抑制了谐频响应,且均衡了台架四个基脚的振动,从而获得了较好的整机隔振效果。
就柴油机双层液压主动隔振台架,还进行了以下研究:1、通过线性系统能量建模、数值仿真和试验研究分析了主、被动隔振系统的特性;2、通过改进的自适应陷波算法及其主动隔振试验研究详细分析了误差通道的相频特性、辨识模型、线性化参考模型和预补偿器模型等对主动隔振效果的影响。研究结果表明:在充分考虑各个影响因素的前提下,能够获得柴油机双层液压主动隔振台架较理想的基频隔振效果。
Basing on diesel two-stage hydraulic active vibration isolation mounting, control strategy, actuator and control object in active vibration control technology are deeply investigated in this dissertation, and the main work is described as follows:
For the current mounting, nonlinearity of hydraulic actuator, which results in heavy nonlinearity of the secondary path, is the dominant factor to influence the effectiveness of active vibration isolation. After intensive studying on nonlinearity of the secondary path is implemented, model reference adaptive inverse control with pre-compensator (PCMRAIC) strategy is proposed, and linearization process of the secondary path of the current mounting is realized in this dissertation.
Nonlinear system identification of the secondary path is one of the key parts in PCMRAIC strategy. After intensive studying on nonlinear system identification theory and method, frequency-domain nonlinear order-uncoupled (FDNOU) system identification method is proposed in this dissertation. This nonlinear system identification method is employed on the current mounting, and then system parameter of the secondary path is evaluated by steady sweep tests.
Combining PCMRAIC strategy and adaptive notch filter algorithm, the improved adaptive notch filter algorithm is proposed and applied to active vibration control experimental research of the current mounting in this dissertation. Results of active vibration control experiment show that: under each working rotation speed of diesel engine, nonlinearity of the secondary path is weakened by employing the improved adaptive notch filter algorithm, harmonic frequency response is effectively suppressed while obtaining 20～35dB attenuation on fundamental frequency vibration, vibrations of four mounting-feet are balanced, so a good vibration isolation performance on the whole mounting is consequently obtained.
To the current mounting, the following investigations are conducted: 1. characteristics of active and passive vibration isolation systems are analyzed by presenting linear system energy modeling, numerical simulation and its corresponding experiment; 2. some influence factors, e.g. phase-frequency characteristic of the secondary path, linearization reference model, identification model of the secondary path and pre-compensator model etc., are discussed in detail by considering the improved adaptive notch filter algorithm and its experimental results. The results show that: better vibration isolation performance at fundamental frequency of the mounting is obtained by the improved adaptive notch filter algorithm when fully considering each influence factor.
引文
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