基于模糊PID复合控制的振动主动控制研究
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摘要
跨声速风洞测力模型通常采取尾部支撑方式,在吹风试验中,受非定常气动力作用易产生剧烈的低频振动,严重影响风洞测力试验的正常进行。本文结合这类风洞试验模型系统的结构和动力学特点,以悬臂结构为试验模型,建立了地面仿真试验系统,对其进行振动主动控制研究。提出了PID控制、模糊控制和模糊PID复合控制策略的振动主动控制设计与实现方法,具体给出了基于PID控制和模糊控制的模糊PID复合控制算法;采用MATLAB仿真平台对上述算法控制性能进行了数值仿真,并进行了性能比较;构建了基于BORLAND C++软件开发平台的振动主动控制试验系统,研究实现了相关控制算法,并对PID控制、模糊控制和模糊PID复合控制算法进行了试验研究与性能评估。试验结果表明:所提出的模糊PID复合控制算法结构简单、实用,能够在较短的时间内对处于低频共振状态的悬臂动力学系统进行高效的主动减振,验证了这类振动主动控制方法的有效性与可行性,为其成功应用于风洞测力系统的低频振动抑制奠定了良好的基础。
This thesis focuses on the development of active vibration control (AVC) approaches for suppressing dangerous low-frequency resonant vibration of the wind tunnel aerodynamic model system at high angles of attack. The principles of several control schemes have been exploited to minimize low-frequency resonant responses of the simulation testing system in the form of the cantilever structure. This system is capable of offering the dynamic characteristics identical with practical one. To cancel the effect of the resonant excitation for reduced vibration responses in the AVC system, the PID control algrorithm and the fuzzy algorithm is studied respectively, and a combined fuzzy-PID control strategy is proposed based on the PID control and the fuzzy control. The described control algorithms are studied by simulation design under the software of MATLAB and experimental research to minimize the structural vibration correspondingly. The simulational and experimental results have demonstrated the effectiveness and feasibility of the presented fuzzy-PID control algorithm and it can enhance the performance of vibration control for the cantilever structure as well as protecting the actuator. These impressive results pave the way for their potential applications in the AVC system for practical wind tunnel aerodynamic models.
This thesis focuses on the development of active vibration control (AVC) approaches for suppressing dangerous low-frequency resonant vibration of the wind tunnel aerodynamic model system at high angles of attack. The principles of several control schemes have been exploited to minimize low-frequency resonant responses of the simulation testing system in the form of the cantilever structure. This system is capable of offering the dynamic characteristics identical with practical one. To cancel the effect of the resonant excitation for reduced vibration responses in the AVC system, the PID control algrorithm and the fuzzy algorithm is studied respectively, and a combined fuzzy-PID control strategy is proposed based on the PID control and the fuzzy control. The described control algorithms are studied by simulation design under the software of MATLAB and experimental research to minimize the structural vibration correspondingly. The simulational and experimental results have demonstrated the effectiveness and feasibility of the presented fuzzy-PID control algorithm and it can enhance the performance of vibration control for the cantilever structure as well as protecting the actuator. These impressive results pave the way for their potential applications in the AVC system for practical wind tunnel aerodynamic models.
引文
1.高静,李聪,杨勇.低速风洞推力矢量试验背撑干扰特性试验研究.实验流体力学, 2005(3):10-20
2.杨力芝,李俊埔,懂军.高速风洞支架干扰数值修正研究.流体力学实验与测量, 2001(3):84-88
3.王宣银,王旭永,范召林.液压风洞尾撑系统的莾计.液压与气动, 1995(5):11-14
4.倪亚琴.风洞试验现状与发展.气动研究与实验, 2000(1):1-9
5.杨恩霞.大攻角张线-尾撑组合支撑设备的设计.设计与计算, 2005(7):113-114
6.顾仲权,马扣根,陈卫东.振动主动控制,北京:国防工业出版社:1997
7. Song T.T. Active structure control. Theory and Practice. London, and Wiley, New York ,1990
8.吕鑫.振动主动控制技术的研究及发展振动测试与诊断1996.16(3):1-7
9.毛剑琴,卜庆忠,张杰等.结构振动控制的新进展控制理论与应用, 2001.18(5):647-652
10. Meriovitch L., et al. A Comparison of Control Techniques for Large Flexible Systems. Journal of Guidance , Control and Dynamics.1983, 6(4):302-310.
11. Balas M.J. Active Control of Flexible Systems. Journal of Optimization Theory and Applications,1978,25(3):415-435.
12. Abdel R.M.,Leipholz H.H.E. Structural Control by Pole Assignment Method. ASCE., Journal of the Engineering Mechanics Division.1978,104(10):1159-1175.
13.陈大跃,胡宗武,范祖尧.振动控制的特征结构配置.振动工程学报, 1991, 4(2):75-81
14.解学书,最优控制理论与应用.北京:清华大学出版, 1986.
15.俞文伯,丁文境.悬臂梁随机振动的最优控制.建筑结构学报, 17(5):49-58
16. Balas M. J. Toward adaptive control of large structures in space, in applications of adaptive control. Kumpati, SN.and Richard, V M S, Academic Press Inc,1980:313-344
17.周军,陈新海.大型柔性空间结构的变结构模型参考自适应控制.航空学报,1992,13(4):156-173
18.顾家柳.转子系统振动主动控制的目的及对策.振动与冲击,1993, (2):1-7
19.刘雍,顾家柳.转子动力系统的鲁棒H∞控制器设计.振动工程学报, 1994, 7(3):251-255
20.刘慧,许晓鸣,张仲俊.迭代学习控制的回顾与展望,机器人.1996(11):374-382.
21.宋静,陈卫东.基于迭代学习控制的振动主动控制技术研究:[硕士论文].南京:南京航空航天大学, 2006
22. Widrow B., Lehr M.A. Thirty years of adaptive neural networks, perception, madaline, and backpropagation[J],Proc,IEEE,1990,78(9):1415-1441.
23.权渭峰,毛剑琴,李超,李帆,智能结构与智能控制在振动主动控制中的应用.信息与电子工程,2(3):232-237.
24.王耀南,智能控制系统[M] .长沙:湖南大学出版社,1996.
25. Zadeh L. A Outline of a New Approach to the Analysis of Complex System and Decision Process. IEEE Transaction on System, Man and cybernetics, 1973, 3(1):28-44
26. Zhou M.K.,Hu H.Y. A fuzzy neuro approach to semiactive vibration control of vehicle suspension. Journal of Vibration, Measurement&Diagnosis,1996,16(2):18-24
27.屈文忠,邱阳.模糊控制理论在柔性结构振动主动控制中的应用.机械科学与技术,1998,17(2)
28. Huang S.J.,Lian R.J. Active vibration control of a dynamic absorber using fuzzy algorithms Mechanics 1996,3(6):317-336
29.朱建新,王曦,张德庆等.内燃机整机振动模糊控制系统的设计.小型内燃机与摩托车,2003,32(2)
30. Huang F.J.,Midorikawa et al. Seismic Response Control Tests and Simulations by Fuzzy Optimal Logic of Building Structures「J」.Engineering Structures.1998 20(3):164-175
31.朱荣,莫友声.模糊自适应隔振技术的研究.噪声与振动控制.1998,2(l)
32. Symnas M.D.,Kelly A.S. Fuzzy Logic Control of bridge structures using Intelligent Semi-Active seismic Isolation system. Systems. J. Earthquake Engineering Structure. Dynamics.1999(128):37-60
33.刘红军,赵祥模,周晓宏.基于模糊控制理论的振动控制研究.西北大学学报,2003,33(3)
34. Lin J.,Liu W.Z. Experimental evaluation of a piezoelectric vibration absorber using a simplified fuzzy controller in a cantilever beam. Journal of Sound and Vibration 2006(296):567-582
35. Librescu L., Na S. Comparative study on vibration control methodologies applied to adaptive thin-walled anisotropic cantilevers. European Journal of Mechanics And Solids.2005.24:661-675
36.张化光,何希勤等.模糊自适应理论及应用.北京:北京航空航天大学出版社,2002
37.屈文忠,孙进才,艾春安.非线性压电作动器的振动模糊控制方法.压电与声光,2003,1:78-83
38.王存堂,史维祥.柔性结构的模糊主动控制研究.振动工程学报,1998,11(3):265-272
39.李晓平,唐建中.一种机器人柔性臂的振动控制新方法.机床与液压,2000(5)
40.屈文忠,常新龙.自适应模糊控制方法在主动悬挂系统中的应用研究.机械科学与杂志.20001,20(3)
41.倪受东,袁祖强等.模糊自适应控制在柔性机器人操作手臂上的应用.制造业自动化,2002,6(24):11-18
42.刘维军.最优自适应模糊控制应用及其研究:[硕士论文].西安:西北工业大学,2004
43.丁海山,毛剑琴等.基于模糊推理估计初值的LMS滤波器在主动振动控制中的应用.第六届国际智能控制及自动化会议.大连:大连理工大学出版社,2006
44.陈建军,王德周等.随机激励下柔性智能梁结构振动的模糊自适应控制.应用力学学报.2006.2(23):312-316
45.王磊,王为民著.模糊控制理论及应用.北京:国防工业出版社,1997:55-56
46. Zadeh L.A. Fuzzy Set. Inform. Control. 1965, (8):338-353
47. Xu J.X., C.C. Hang, and Liu C. Parallel Structure and tuning of a fuzzy PID Controller. Automatica.2000(36):673-684
48. Chen G. Conventional and fuzzy PID controllers: An overview. J. Intelligent. Control System. 1996(1):235-246
49. Chiu. S. Using fuzzy logic in control applications: Beyond fuzzy PID control. IEEE Control system Magazine. 1998,18(5):100-104
50.陶永华,尹怡欣,葛芦生.新型PID控制及其应用.北京:机械工业出版社,1998
51.章卫国,杨向忠.模糊控制理论与应用.西安:西北工业大学出版社,1999
52. Ketata R,et al. Fuzzy Controller: design, evaluation, pararrel and hierarchical combination with a PID controller. J. Fuzzy Sets and Systems 1995,71(1)
53.褚静等.模糊控制原理与应用.北京:机械工业出版社,1995
54.郭大蕾,周文,胡海岩.具有可调增益的模糊-PID电液主动控制悬架.振动工程学报,2001,3(14):273-277
55. Pal K, Mudi R.K.,and N.R.Pal. A new scheme for fuzzy rule bused system identification and its application to self-tuning fuzzy controllers. IEEE Trans. On Syst.,1998(13):470-482
56.陶永华,尹怡欣,葛芦生.新型PID控制及其应用.北京:机械工业出版社,1998
57. Wu Z.Q., Mizumuoto M. PID type fuzzy controller and parameters adaptive method. J.Fuzzy Sets and Systems 1996,78(1)
58. Zhang W.M.,Meng G. Active vibration control of micro-cantilever beam in MEMS, Proceedings of the 2004 International Conference on intelligent Mechatronics and Automation: 272-276.
59.李兴利,陈卫东.基于混合迭代学习控制的振动主动控制技术研究:[硕士论文].南京:南京航空航天大学, 2007
2.杨力芝,李俊埔,懂军.高速风洞支架干扰数值修正研究.流体力学实验与测量, 2001(3):84-88
3.王宣银,王旭永,范召林.液压风洞尾撑系统的莾计.液压与气动, 1995(5):11-14
4.倪亚琴.风洞试验现状与发展.气动研究与实验, 2000(1):1-9
5.杨恩霞.大攻角张线-尾撑组合支撑设备的设计.设计与计算, 2005(7):113-114
6.顾仲权,马扣根,陈卫东.振动主动控制,北京:国防工业出版社:1997
7. Song T.T. Active structure control. Theory and Practice. London, and Wiley, New York ,1990
8.吕鑫.振动主动控制技术的研究及发展振动测试与诊断1996.16(3):1-7
9.毛剑琴,卜庆忠,张杰等.结构振动控制的新进展控制理论与应用, 2001.18(5):647-652
10. Meriovitch L., et al. A Comparison of Control Techniques for Large Flexible Systems. Journal of Guidance , Control and Dynamics.1983, 6(4):302-310.
11. Balas M.J. Active Control of Flexible Systems. Journal of Optimization Theory and Applications,1978,25(3):415-435.
12. Abdel R.M.,Leipholz H.H.E. Structural Control by Pole Assignment Method. ASCE., Journal of the Engineering Mechanics Division.1978,104(10):1159-1175.
13.陈大跃,胡宗武,范祖尧.振动控制的特征结构配置.振动工程学报, 1991, 4(2):75-81
14.解学书,最优控制理论与应用.北京:清华大学出版, 1986.
15.俞文伯,丁文境.悬臂梁随机振动的最优控制.建筑结构学报, 17(5):49-58
16. Balas M. J. Toward adaptive control of large structures in space, in applications of adaptive control. Kumpati, SN.and Richard, V M S, Academic Press Inc,1980:313-344
17.周军,陈新海.大型柔性空间结构的变结构模型参考自适应控制.航空学报,1992,13(4):156-173
18.顾家柳.转子系统振动主动控制的目的及对策.振动与冲击,1993, (2):1-7
19.刘雍,顾家柳.转子动力系统的鲁棒H∞控制器设计.振动工程学报, 1994, 7(3):251-255
20.刘慧,许晓鸣,张仲俊.迭代学习控制的回顾与展望,机器人.1996(11):374-382.
21.宋静,陈卫东.基于迭代学习控制的振动主动控制技术研究:[硕士论文].南京:南京航空航天大学, 2006
22. Widrow B., Lehr M.A. Thirty years of adaptive neural networks, perception, madaline, and backpropagation[J],Proc,IEEE,1990,78(9):1415-1441.
23.权渭峰,毛剑琴,李超,李帆,智能结构与智能控制在振动主动控制中的应用.信息与电子工程,2(3):232-237.
24.王耀南,智能控制系统[M] .长沙:湖南大学出版社,1996.
25. Zadeh L. A Outline of a New Approach to the Analysis of Complex System and Decision Process. IEEE Transaction on System, Man and cybernetics, 1973, 3(1):28-44
26. Zhou M.K.,Hu H.Y. A fuzzy neuro approach to semiactive vibration control of vehicle suspension. Journal of Vibration, Measurement&Diagnosis,1996,16(2):18-24
27.屈文忠,邱阳.模糊控制理论在柔性结构振动主动控制中的应用.机械科学与技术,1998,17(2)
28. Huang S.J.,Lian R.J. Active vibration control of a dynamic absorber using fuzzy algorithms Mechanics 1996,3(6):317-336
29.朱建新,王曦,张德庆等.内燃机整机振动模糊控制系统的设计.小型内燃机与摩托车,2003,32(2)
30. Huang F.J.,Midorikawa et al. Seismic Response Control Tests and Simulations by Fuzzy Optimal Logic of Building Structures「J」.Engineering Structures.1998 20(3):164-175
31.朱荣,莫友声.模糊自适应隔振技术的研究.噪声与振动控制.1998,2(l)
32. Symnas M.D.,Kelly A.S. Fuzzy Logic Control of bridge structures using Intelligent Semi-Active seismic Isolation system. Systems. J. Earthquake Engineering Structure. Dynamics.1999(128):37-60
33.刘红军,赵祥模,周晓宏.基于模糊控制理论的振动控制研究.西北大学学报,2003,33(3)
34. Lin J.,Liu W.Z. Experimental evaluation of a piezoelectric vibration absorber using a simplified fuzzy controller in a cantilever beam. Journal of Sound and Vibration 2006(296):567-582
35. Librescu L., Na S. Comparative study on vibration control methodologies applied to adaptive thin-walled anisotropic cantilevers. European Journal of Mechanics And Solids.2005.24:661-675
36.张化光,何希勤等.模糊自适应理论及应用.北京:北京航空航天大学出版社,2002
37.屈文忠,孙进才,艾春安.非线性压电作动器的振动模糊控制方法.压电与声光,2003,1:78-83
38.王存堂,史维祥.柔性结构的模糊主动控制研究.振动工程学报,1998,11(3):265-272
39.李晓平,唐建中.一种机器人柔性臂的振动控制新方法.机床与液压,2000(5)
40.屈文忠,常新龙.自适应模糊控制方法在主动悬挂系统中的应用研究.机械科学与杂志.20001,20(3)
41.倪受东,袁祖强等.模糊自适应控制在柔性机器人操作手臂上的应用.制造业自动化,2002,6(24):11-18
42.刘维军.最优自适应模糊控制应用及其研究:[硕士论文].西安:西北工业大学,2004
43.丁海山,毛剑琴等.基于模糊推理估计初值的LMS滤波器在主动振动控制中的应用.第六届国际智能控制及自动化会议.大连:大连理工大学出版社,2006
44.陈建军,王德周等.随机激励下柔性智能梁结构振动的模糊自适应控制.应用力学学报.2006.2(23):312-316
45.王磊,王为民著.模糊控制理论及应用.北京:国防工业出版社,1997:55-56
46. Zadeh L.A. Fuzzy Set. Inform. Control. 1965, (8):338-353
47. Xu J.X., C.C. Hang, and Liu C. Parallel Structure and tuning of a fuzzy PID Controller. Automatica.2000(36):673-684
48. Chen G. Conventional and fuzzy PID controllers: An overview. J. Intelligent. Control System. 1996(1):235-246
49. Chiu. S. Using fuzzy logic in control applications: Beyond fuzzy PID control. IEEE Control system Magazine. 1998,18(5):100-104
50.陶永华,尹怡欣,葛芦生.新型PID控制及其应用.北京:机械工业出版社,1998
51.章卫国,杨向忠.模糊控制理论与应用.西安:西北工业大学出版社,1999
52. Ketata R,et al. Fuzzy Controller: design, evaluation, pararrel and hierarchical combination with a PID controller. J. Fuzzy Sets and Systems 1995,71(1)
53.褚静等.模糊控制原理与应用.北京:机械工业出版社,1995
54.郭大蕾,周文,胡海岩.具有可调增益的模糊-PID电液主动控制悬架.振动工程学报,2001,3(14):273-277
55. Pal K, Mudi R.K.,and N.R.Pal. A new scheme for fuzzy rule bused system identification and its application to self-tuning fuzzy controllers. IEEE Trans. On Syst.,1998(13):470-482
56.陶永华,尹怡欣,葛芦生.新型PID控制及其应用.北京:机械工业出版社,1998
57. Wu Z.Q., Mizumuoto M. PID type fuzzy controller and parameters adaptive method. J.Fuzzy Sets and Systems 1996,78(1)
58. Zhang W.M.,Meng G. Active vibration control of micro-cantilever beam in MEMS, Proceedings of the 2004 International Conference on intelligent Mechatronics and Automation: 272-276.
59.李兴利,陈卫东.基于混合迭代学习控制的振动主动控制技术研究:[硕士论文].南京:南京航空航天大学, 2007