振动控制工程中实际结构模型复杂，难以通过机理建模构建振动控制系统。本文提出基于数据驱动的子空间辨识和H∞鲁棒控制构建结构振动抑制策略。根据实际被控系统所遭受的外扰以及作动器、传感器的布置情况，首先，确立出被控系统的扰动、控制输入和量测输出等参数；接着，分别对系统施加扰动力和主动作动力并采集此时系统的输入和响应数据；然后，根据采集到的输入输出的数据，运用子空间辨识法得到扰动、输入与输出间的传递函数；最后，通过H∞鲁棒控制理论将得到的传递函数进行组装构建出系统的广义控制对象，并求解出了系统的反馈控制器。并以一多自由度箭载载荷隔振模型为例，建立系统的动力学方程，并通过该系统的仿真数据重构系统的传递函数模型，结果表明通过将重构的广义模型所求解出的反馈控制器带入原系统后，扰动到控制输出间的传递率在谐振峰区间相比原系统得到极大的降低；时域上，在外界扰动下反馈控制系统相比无控系统其稳态响应的幅值大大降低，系统在外扰下的动态指标都得到极大改善。
Abstract
In vibration control engineering, the actual structural model is complex and it is difficult to construct a structural vibration control system through mechanism modeling. This paper proposes a data-driven vibration suppression strategy based on subspace identification method and H∞ robust control method. According to the external disturbances suffered by the actual active vibration control system and the arrangement of actuators and sensors, the disturbances, control inputs, and measured outputs parameters of the controlled system are established. Disturbance force and active control forces are applied to the system respectively, and input and response data are collected under each condition. The transfer functions between disturbance, inputs, and outputs are obtained using subspace identification method based on the collected inputs and outputs data. Finally, the obtained transfer functions are assembled based on H∞ robust control theory to construct the generalized control object of the system, and then the feedback controller of the system are solved. Taking a multi-degree-of-freedom whole spacecraft vibration isolation model as an example, the dynamic equations of the system is established, and the transfer functions of the system are reconstructed by simulation data. The results show that the transmissibility from disturbance to control outputs in the resonant peak region are greatly reduced compared to the original system after incorporating the feedback controller derived from the reconstructed generalized model into the original system. In the time domain, compared with the uncontrolled system, the amplitude of the steady-state response of the feedback control system is significantly reduced under external disturbance, and the dynamic performance of the system under external disturbance are greatly improved.
关键词
振动控制 /
数据驱动 /
子空间辨识 /
H∞鲁棒控制
{{custom_keyword}} /
Key words
Vibration control /
Data-driven；Subspace identification；H∞ robust control
{{custom_keyword}} /
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] 于开平, 庞世伟, 赵婕. 时变线性/非线性结构参数识别及系统辨识方法研究进展[J]. 科学通报, 2009, 54(20): 3147-3156.
YU Kai-ping, Pang Shi-wei, Zhao Jie. Advances in method of time-varying linear/nonlinear structural system identification and parameter estimate[J]. Chinese Science Bulletin, 2009, 54(20): 3147-3156.
[2] 唐晓峰, 王皓, 唐国安. 动力学缩聚模型修正的矩阵逼近法[J]. 上海航天, 2007,No.144(05): 10-13.
TANG Xiao-feng, Wang Hao, TANG Guo-an. Updating Dynamic Reduced Models Using Matrix Approxi mation Method[J]. Shanghai Aerospace, 2007, No.144(05): 10-13.
[3] GHANEM R, SHINOZUKA M. Structural-system identification. I: Theory[J]. Journal of Engineering Mechanics, 1995,121(2): 255-264.
[4] 马志赛, 丁千. 时变/非线性结构动力学系统辨识方法研究: 第十四届全国振动理论及应用学术会议(NVTA2021)[C]. 中国天津, 2021.
MA Zhi-sai, DING Qian. Research on identification methods for time-varying/nonlinear structural dynamic systems: Proceedings of the 14th National Vibration Theory and Applications Academic Conference (NVTA2021)[C]. Tianjin, China, 2021.
[5] 邵敏强, 陈卫东, 佘重禧. 基于ERA模型辨识的H_∞振动主动控制试验研究[J]. 振动与冲击, 2017,36(02): 72-76.
SHAO Min-qiang, CHEN Wei-dong, SHE Zhong-xi. Experiment study on the active vibration control using H∞ method based on ERA identification model [J]. Journal of Vibration and Shock, 2017, 36(02): 72-76.
[6] SCHOEN M P, HOOVER R C, CHINVORARAT S, SCHOEN G M. System identification and robust controller design using genetic algorithms for flexible space structures[J]. Journal of Dynamic Systems, Measurement, and Control, 2009, 131(3).
[7] 王建宏, 朱永红. 两自由度控制器的直接数据驱动辨识[J]. 华东交通大学学报, 2016,33(05): 65-75.
WANG Jian-hong, ZHU Yong-hong. Direct Data-driven Identification for Controllers with Two Degrees of Freedom [J]. Journal of East China Jiaotong University, 2016, 33(05): 65-75.
[8] XIE Y, WANG C, SHI H, SHI J. A data driven control method for structure vibration suppression[J]. Acta Astronautica, 2018,143: 302-309.
[9] 辛峻峰, 盛进路, 张永波. 数据驱动随机子空间法矩阵维数选择与噪声问题研究[J]. 振动与冲击, 2013,32(16): 152-157.
XIN Jun-feng, SHENG Jin-lu, ZHANG Yong-bo. Study on matrix dimension selection and noise problem of data-driven stochastic subspace method[J]. Journal of Vibration and Shock, 2013, 32(16): 152-157.
[10] 贾振, 娄军强, 杨依领, 陈特欢, 魏燕定. 旋转柔性机械臂系统的实验模型辨识及伺服速度抑振控制[J]. 振动与冲击, 2020,39(24): 76-82.
JIA Zhen, LOU Jun-qiang, YANG Yiling, CHEN Te-huan, WEI Yan-ding. Experimental model identification and servo velocity vibration suppression control of rotating flexible robotic arm system[J]. Journal of Vibration and Shock, 2020, 39(24): 76-82.
[11] Di GIROLAMO G D, SMARRA F, GATTULLI V, POTENZA F, GRAZIOSI F, D'INNOCENZO A. Data‐driven optimal predictive control of seismic induced vibrations in frame structures[J]. Structural Control and Health Monitoring, 2020,27(4): e2514.
[12] 池维超. 基于电磁作动器的整星主被动一体化隔振技术研究[D]. 哈尔滨工业大学, 2015.
CHI Wei-chao. Research on the integrated active/passive isolation technology of the whole spacecraft based on electromagnetic actuators[D]. Harbin Institute of Technology, 2015.
[13] 范新亮, 王彤, 张丽君, 夏遵平. 大型有限元模型频响快速修正方法[J]. 振动与冲击, 2021,40(13): 193-200.
FAN Xin-liang, WANG Tong, ZHANG Li-jun, XIA Zun-ping. Fast correction method for FRF of large FE model [J]. Journal of Vibration and Shock, 2021, 40(13): 193-200.
[14] 张春良. 振动主动控制及应用[M]. 哈尔滨工业大学出版社, 2011.
ZHANG Chun-liang. Vibration Active Control and Its Applications[M]. Harbin Institute of Technology Press, 2011.
[15] 王佳. 基于子空间方法的闭环系统辨识[D]. 大连理工大学, 2013.
WANG Jia. Closed-loop system identification based on subspace methods[D]. Dalian University of Technology, 2013.
[16] Van OVERSCHEE P, De MOOR B L. Subspace identification for linear systems: Theor-Implementation-Applications[M]. Springer Science & Business Media, 2012.
[17] 梅生伟, 申铁龙, 刘康志. 现代鲁棒控制理论与应用[M]. 清华大学出版社, 2008.
MEI Sheng-wei, SHEN Tie-long, LIU Kang-zhi. Modern Robust Control Theory and Applications[M]. Tsinghua University Press, 2008.
[18] 王广雄, 袁欣. H∞设计:两块还是三块问题[J]. 电机与控制学报, 2001,5(2): 81-83.
WANG Guang-xiong, YUAN Xin. H∞ control: 2 block or 3 block problems[J]. Electric Machines and Control, 2001, 5(2): 81-83.
[19] DOYLE J, GLOVER K, KHARGONEKAR P, FRANCIS B. State-space solutions to standard H 2 and H∞ control problems: 1988 American Control Conference[C]: IEEE, 1988.
{{custom_fnGroup.title_cn}}
脚注
{{custom_fn.content}}
PDF(3112 KB)
