超磁致伸缩作动器的率相关振动控制实验研究

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摘要以Hammerstein模型对超磁致伸缩作动器(GMA, Giant Magnetostrictive Actuators)的率相关迟滞非线性进行建模，其中改进的PI (MPI, Modified Prandtl-Ishlinskii)模型和外因输入自回归模型(ARX, Autoregressive Model with Exogenous Input)分别表示模型的静态非线性部分和线性动态部分。在所建模型的基础上，提出了一种H∞鲁棒振动控制方法。GMA单自由度主动隔振平台的减振控制实验结果表明：H∞鲁棒振动控制方法可以在1个振动周期内，将频率范围为1-100Hz的振动衰减88%-92%；而基于双滤波器的自适应滤波x-LMS算法收敛时间近似于1s，在40-100Hz的频率范围内可将振动衰减90%-92%，而在10-30Hz的频率范围内只能将振动衰减43%-74%。因此本文所提出的H∞鲁棒振动控制方法收敛速度更快，控制频带更宽，而且不需要对不同频率激励下的控制通道进行重复建模。

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关键词 ：超磁致伸缩作动器；率相关迟滞非线性；Hammerstein模型；振动控制；H&infin, 鲁棒控制；自适应滤波

Abstract：A Hammerstein model is used to describe the rate-dependent hysteresis nonlinearity of giant magnetostrictive actuators (GMA). A modified Prandtl-Ishlinskii (MPI) model and an Autoregressive Model with Exogenous Input (ARX) represent respectively the static nonlinear part and the linear dynamic part of the Hammerstein model. Based on the proposed model, a new H∞ robust control method is proposed for vibration control. Experimental results on a one degree-of-freedom vibration isolation platform with a GMA demonstrate that the H∞ robust control method can attenuate 88%-92% of the vibration coming from the base in the frequency range of 1-100Hz in 1 vibration cycle, while the dual-filter-based adaptive filter x-LMS algorithm converges to the steady state in about 1 second, it can attenuate 90%-92% of the vibration in the frequency range of 40-100Hz and 43%-74% in the frequency range of 10-30Hz. Hence the proposed H∞ robust vibration control method has a wider control band and a faster convergence rate compared to the dual-filter-based adaptive filter x-LMS algorithm, and does not require re-modeling the control channels under the excitation of different frequencies.

Key words： giant magnetostrictive actuator rate-dependent hysteresis nonlinearity Hammerstein model active vibration control H&infin robust control adaptive filter

收稿日期: 2014-02-08 出版日期: 2015-06-25

引用本文:

郭咏新1,张臻1，王贞艳1，周克敏2，3，毛剑琴1. 超磁致伸缩作动器的率相关振动控制实验研究[J]. 振动与冲击, 2015, 34(12): 51-57.
GUO Yongxin 1 ZHANG Zhen 1 WANG Zhenyan 1 ZHOU Kemin 2,3 MAO Jianqin 1 . Experimental research on rate-dependent vibration control of giant magnetostrictive actuators. JOURNAL OF VIBRATION AND SHOCK, 2015, 34(12): 51-57.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2015/V34/I12/51

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