基于模糊PID控制器的变质量-柔性梁结构振动主动控制

马驰骋1,2,罗亚军2,张希农2,程相孟1,邵明玉1

振动与冲击 ›› 2018, Vol. 37 ›› Issue (23) : 197-203.

PDF(1792 KB)
PDF(1792 KB)
振动与冲击 ›› 2018, Vol. 37 ›› Issue (23) : 197-203.
论文

基于模糊PID控制器的变质量-柔性梁结构振动主动控制

  • 马驰骋1,2,罗亚军2,张希农2,程相孟1,邵明玉1
作者信息 +

Vibration active control of a flexible beam with time-varying mass based on fuzzy PID controller

  • MA Chicheng1,2,LUO Yajun2,ZHANG Xinong2,CHENG Xiangmeng1,SHAO Mingyu1
Author information +
文章历史 +

摘要

机械臂结构通常用来搬运或者传输物品,而质量在传递过程中可能移动或者改变大小,因此这类结构属于典型的变质量结构,含质量构件的机械臂通常被简化为附加集中质量或附加变质量的柔性杆梁结构。本文以含变质量构件的压电梁结构为研究对象,从材料的本构方程出发,使用模态叠加法推导了粘贴有压电片的变质量-柔性梁结构的控制方程,通过计算仿真得到变质量时变系统的瞬态响应,分析了变质量-柔性梁结构的振动特性和运动规律,然后开展变质量柔性梁结构的振动主动控制研究。针对系统的变质量时变特性,设计模糊PID控制器对含变质量单元的柔性梁结构开展了振动主动控制研究,考虑了多种工况下系统的振动抑制问题。鉴于FFT在非平稳信号分析中的不足,使用时频分析技术将信号在时间-频率域上分解,得到了信号在时频域上的能量分布信息,更加准确的比较了控制效果。数值仿真表明,由于系统的变质量特性,系统没有固有频率,而是以共振频率带的形式出现;PID控制和模糊PID控制两种算法都可以实现系统的振动抑制,但是使用模糊自整定PID控制器,鲁棒性高,自适应性强,通过改进PID控制器的参数,可有效的提高控制效果。

Abstract

Manipulators are usually designed to carry or move goods,and their mass may move or change its magnitudes in transmission,so manipulators belong to time-varying mass structures.Here,manipulators were simplified as flexible beam structures with time-varying mass to investigate their dynamic characteristics and vibration active control.The dynamic control equation of a flexible beam with time-varying mass was derived with the mode superposition method and the material constitutive equation.The transient responses of the system were computed,and its dynamic characteristics and vibration laws were analyzed.Then,vibration active control of this structure was studied.For the mass time-varying feature of the system,a fuzzy PID controller was designed to study vibration active control for this system.Vibration suppressions were simulated under different operational conditions,and the results were compared with those using a classical PID controller.Considering shortages of FFT in non-stationary signal analysis,the time-frequency analysis technique was utilized to decompose the collected vibration signals and obtain their energy distribution information in time-frequency domain.Hence,the control effects of the two controllers were compared more accurately.The numerical simulations showed that due to the system’s variable mass feature,the system doesn’t have natural frequencies,but has a resonance frequency band; both two control strategies of PID and fuzzy PID can realize the system’s vibration control,but the fuzzy PID controller has a stronger robustness and higher self-adaptability,so improving its parameters can effectively enhance the vibration control effect.

关键词

变质量 / 时变系统 / 振动控制 / 模糊PID

Key words

 variable mass / time varying system / vibration control / fuzzy PID controller

引用本文

导出引用
马驰骋1,2,罗亚军2,张希农2,程相孟1,邵明玉1. 基于模糊PID控制器的变质量-柔性梁结构振动主动控制[J]. 振动与冲击, 2018, 37(23): 197-203
MA Chicheng1,2,LUO Yajun2,ZHANG Xinong2,CHENG Xiangmeng1,SHAO Mingyu1. Vibration active control of a flexible beam with time-varying mass based on fuzzy PID controller[J]. Journal of Vibration and Shock, 2018, 37(23): 197-203

参考文献

[1] 刘迎春,余跃庆,姜春福.柔性机器人研究现状[J].机械设计,2003,20(12):4-7.
Liu Yingchun, Yu Yueqing, Jiang Chunfu. Current researching situation of flexible robots[J]. Journal of machine design, 2003, 20(12): 4-7.
[2] 陈星,方之楚.柔性机械臂振动的反馈控制及数值模拟[J].振动与冲击,2006,25(01):1-4+160.
Chen Xing, Fang Zhichu. Feedback control and simulation for vibrations of a flexible robot arm[J]. Journal of vibration and Shock, 2006, 25(01): 1-4+160.
[3] 邱志成,韩建达,王越超.基于复合喷气压电驱动器的柔性机械臂振动控制[J].机械工程学报,2009,45(5):184-192.
Qiu Zhicheng, Han Jianda, Wang Yuechao. Vibration control for flexible manipulator based on the combining of jet thruster and piezoelectric actuators[J]. Journal of mechanical engineering, 2009, 45(5): 184-192.
 [4] 杜欣,蔡国平.带有末端集中质量的双连杆柔性机械臂主动控制[J].应用力学学报,2009,26(04): 672-678+833.
Du Xin, CaiGuoping.  Active Control for Two-Link Flexible Manipulator with Tip Mass[J]. Chinese Journal of Applied Mechanics, 2009, 26(04):672-678+833.
[5] 刘旭亮,黄玉平,崔佩娟等.柔性机械臂建模及动力学特性分析[J].噪声与振动控制,2014,34(06):7-11.
Liu Xuliang, Huang Yuping, Cui Peijuan et al. Modeling and Dynamic Characteristic Analysis of Flexible Robotic Arm[J]. Noise and Vibration Control, 2014, 34(06): 7-11.
 [6] 娄军强,魏燕定,杨依领等.空间柔性机械臂弯扭耦合振动的主动控制研究[J].振动工程学报,2014,27(03):400-407.
Lou Junqiang, Wei Yanding, Yang Yiling et al. Active control of bending-torsion-coupled vibration of a space flexible manipulator[J]. Journal of Vibration Engineering. 2014, 27(03): 400-407.
[7] A. Nikkhoo, F.R. Rofooei, M.R. Shadnam. Dynamic behavior and modal control of beams under moving mass[J]. Journal of Sound and Vibration, 2007,306(3–5): 712-724.
[8] 吴忻生,邓军.末端有未知扰动的分布参数柔性机械臂的鲁棒边界控制[J].控制理论与应用,2011,28(04):511-518.
Wu Xinsheng,Deng Jun. Robust boundary control of a distributed-parameter flexible manipulator with tip unknown disturbance[J]. Control Theory & Application, 2011, 28(04): 511-518.
[9] 李发宗,童水光,王相兵,程晓民.船用挖掘机机械臂刚柔耦合动力学及特性研究[J].振动与冲击,2014,33(20):157-163.
Li Fazong, Tong Shuiguang, Wang Xiangbing, Cheng Xiaomin. Rigid-flexible coupling dynamics and characteristics of marine excavator’s mechanical arm[J]. Journal of Vibration and Shock,2014,33(20):157-163.
[10] 郭宇飞,侯保林.传动柔性及负载变化弹药传输机械臂位置控制及柔性振动抑制[J].振动与冲击,2015,34(22):1-8.
Guo Yufei, Hou Baolin. Positioning control and elastic vibration suppressing of an ammunition transfer manipulator with transmission flexibility and payload uncertainty[J]. Journal of Vibration and Shock, 2015, 34(22): 1-8.
[11] Ma Chicheng, Zhang Xinong, Xie Shilin et al. Active linear quadratic Gaussian control of the vibration of a flexible beam with a time-varying mass[J]. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2015, 229(6): 475-484.
[12] 王立新.模糊系统与模糊控制教程[M].北京:清华大学出版社,2003.
[13] 张化光,何希勤等.模糊自适应理论及应用[M].北京:北京航空航天大学出版社,2002.
[14] 刘红军,赵祥模,周晓宏.基于模糊控制理论的振动控制研究[J].西北大学学报,2003,33(3): 293-295.
Liu hongjun, Zhao Xiangmo, Zhou Xiaohong. A study
on vibration control based on the theory of fuzzy control[J]. Journal of Northwest University (natural science edition), 2003, 33(3): 293-295.
[15] Kuo KY, Lin J. Fuzzy logic control for flexible link robot arm by singular perturbation approach[J]. Applied soft computing, 2002, 2(1): 24-38.
[16] 魏井君,邱志成,叶春德.基于模糊控制的压电挠性梁的振动主动控制实验研究[J].振动与冲击,2008, 27(12):91-96.
Wei Jingjun, Qiu Zhicheng, Ye Chunde. Experimental Research on Active Vibration Control of Piezoelectric Flexible Beam Based on Fuzzy Algorithm[J]. Journal of vibration and shock, 2008, 27(12): 91-96.
[17] Wei J, Qiu Z, Wang Y. Experimental comparison research on active vibration control for flexible piezoelectric manipulator using fuzzy controller[J]. Journal of Intelligent and Robotic Systems, 2010, 59(1): 31-56.
 [18] 曹青松,周继惠,黎林等.基于模糊自整定PID算法的压电柔性机械臂振动控制研究[J].振动与冲击,2010,29(12):181-186.
Cao Qingsong, Zhou Jihui, Li Lin et al.Vibration control of piezoelectric flexible manipulator based on fuzzy self-tuning PID algorithm[J]. Journal of vibration and shock, 2010, 29(12): 181-186.
[19] Aghababa MP, A fractional-order controller for vibration suppression of uncertain structures[J]. ISA Transactions, 2013, 52(6): 881-887.
[20] Richa Sharma, K.P.S. Rana, Vineet Kumar, Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator[J]. Expert Systems with Applications, 2014, 41(9): 4274-4289.
[21] 梁捷,陈力,梁频.柔性空间机器人基于关节柔性补偿控制器与虚拟力概念的模糊全局滑模控制及振动主动抑制[J].振动与冲击,2016,35(18):62-70.
Liang Jie, Chen Li, Liang Pin. Adaptive fuzzy global sliding mode control and active hierarchical vibration suppression of space robot with flexible-link and flexible-joint[J]. Journal of Vibration and Shock, 2016, 35(18): 62-70.
[22] Meirovitch L. Dynamics and Control of Structures[M]. Wiley, New York, 1990.
[23] Cohen L. Time frequency distributions a review [J]. Proceedings of the IEEE, 1989, 77(7): 941-981.
[24] 姜鸣,陈进,汪慰军.几种Cohen类时频分布的比较及应用[J].机械工程学报,2003,29(3):129-134.
Jiang Ming, Chen Jin, Wang Weijun. Comparison and application of some time-frequency distribution of belonging to Cohen class[J]. Chinese journal of mechanical engineering, 2003, 29(3): 129-134.
[25] 葛哲学,陈仲生.Matlab时频分析技术及其应用[M].北京:人民邮电出版社,2006年

PDF(1792 KB)

Accesses

Citation

Detail

段落导航
相关文章

/