针对耦合反馈振动控制系统中不可避免地存在延时问题，建立了双层耦合反馈数字控制系统模型。应用信号传递框图分析了反馈控制系统中多作动器的力耦合关系，克服了传统反馈控制流图中只考虑作动器单端反馈控制力的不足。推导了系统在耦合反馈控制策略时的力传递函数及Z域表达式，研究了控制系统在不同采样时间、阻尼参数和反馈方式下的阶跃响应。结果表明在延迟时间较小时，系统的响应能够逼近对应连续系统的响应，但延迟时间过大时，对应数字控制系统的极点将越过单位圆边界，系统失去稳定性，设计合适的延迟补偿环节可以显著增加控制效果。
Abstract
The double stage coupling feedback digital vibration controlling system model is presented to analyze the dynamic characteristic of the corresponding system with time delay. The coupling relation between actuators are described through the signal transmit block diagram, and it overcomes the disadvantages of the traditional method without reaction force on foundation. The discrete domain equation of the force transmissibility under coupling feedback control strategy is derived. The step response of the system with different sampling time, damping and feedback type are calculated. Results show that the digital controlling system response approaches to the original one with small sampling time, and it is unstable with long delay time, the corresponding poles lie at the outside of the unit circle. The lead compensator is designed to improve the controlling effectively.
关键词
振动系统 /
反馈延迟 /
耦合控制 /
延迟补偿
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Key words
vibration system /
feedback delay /
coupling control；delay compensation
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