基于LuGre模型的有摩擦结构自适应主动振动控制

刘勇;文立华

振动与冲击 ›› 2011, Vol. 30 ›› Issue (12) : 69-73.

PDF(1692 KB)
PDF(1692 KB)
振动与冲击 ›› 2011, Vol. 30 ›› Issue (12) : 69-73.
论文

基于LuGre模型的有摩擦结构自适应主动振动控制

  • 刘勇; 文立华
作者信息 +

Adaptive active vibration control for frictional structures based on LuGre model

  • Liu Yong, Wen Li-hua
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文章历史 +

摘要


摘 要:针对参数不确定的有摩擦结构振动控制问题, 设计了一种基于LuGre动态摩擦模型的模型参考自适应控制器 (MRAC)。采用LuGre动态模型描述系统摩擦力,建立了单自由度有摩擦结构的动力学模型;以理想的Skyhook结构为参考模型,使用双观测器估计摩擦状态,设计了一种模型参考自适应主动振动控制器,并通过Lyapunov方法证明整个闭环系统具有全局稳定性,位移跟踪误差和速度跟踪误差渐进收敛到零。利用Simulink进行仿真研究,仿真结果表明,该控制器可以显著地减小有摩擦结构在共振频率附近的响应,并改善系统在较高频率的隔振性能。

Abstract

Based on the LuGre dynamic friction model,a model reference adaptive controller (MRAC) is proposed to solve the vibration isolation problem of frictional structures with undetermined parameters. The dynamic model of the single-degree-of-freedom (SDOF) frictional structure is established using the LuGre dynamic friction model to describe the friction force. With choosing the ideal Skyhook structure as the reference model, a dual-observer is used to estimate the state of the friction, and a MRAC active controller is designed. It is proven by the Lyapunov method that the closed-loop system is asymptotically stable, and that both the displacement tracking error and the velocity tracking error converge to zeros. The simulative study is carried out and the results show that this kind of controller not only greatly decreases the response of frictional structures near the resonance frequency, but also improves the system’s vibration isolation performance at higher frequency.

关键词

有摩擦结构 / LuGre模型 / 自适应控制 / Skyhook参考模型 / 双观测器 / 振动控制

Key words

frictional structures / vibration isolation / LuGre model / Skyhook reference medel / dual-observer / adaptive controller

引用本文

导出引用
刘勇;文立华 . 基于LuGre模型的有摩擦结构自适应主动振动控制[J]. 振动与冲击, 2011, 30(12): 69-73
Liu Yong; Wen Li-hua.
Adaptive active vibration control for frictional structures based on LuGre model[J].
Journal of Vibration and Shock, 2011, 30(12): 69-73

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