[1]邱志成,吴宏鑫.基于特征模型的挠性结构自适应振动控制[J].智能系统学报,2007,2(05):36-41.
 QIU Zhi-cheng,WU Hong-xin.Adaptive control for vibration of flexible structures based on the characteristic model[J].CAAI Transactions on Intelligent Systems,2007,2(05):36-41.
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基于特征模型的挠性结构自适应振动控制(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第2卷
期数:
2007年05期
页码:
36-41
栏目:
出版日期:
2007-10-25

文章信息/Info

Title:
Adaptive control for vibration of flexible structures based on the characteristic model
文章编号:
1673-4785(2007)05-0036-06
作者:
邱志成1吴宏鑫2
1.华南理工大学机械工程学院,广东广州510641;
2.中国空间技术研究院北京控制工程研究所 ,北京100080
Author(s):
QIU Zhi-cheng1 WU Hong-xin2
1. School of Mechanical Engineering, South China University of Technology, Guang zhou 510641, China;
 2.Beijing Institute of Control Engineering, Chinese Academy of Space Technology, Beijing 100080, China
关键词:
挠性结构振动主动控制特征模型自适应控制
Keywords:
flexible structures active vibration control characteristic model adaptive co ntrol
分类号:
TP273
文献标志码:
A
摘要:
航天器是一种由中心刚体和挠性附件组成的刚柔耦合复杂系统,由于系统调姿或外部扰动作用时将引起振动,尤其是在平衡位置的小幅度振动对姿态稳定度和指向控制精度严重影响,并且难以控制.为了解决该问题,采用基于特征模型的黄金分割自适应控制方法,并引入逻辑微分阻尼项进行振动主动控制.建立了刚柔耦合结构实验平台,进行了包括位置设定点及转动振动主动控制的算法实验比较,结果表明,采用的基于特征模型的方法得到了比较理想的振动抑制效果,尤其是对低频小幅值振动的抑制,在相同条件下,与传统控制方法相比,大大减少了振动抑制的时间.实验研究表明采用的算法快速抑制振动的有效性.
Abstract:
Spacecraft are kinds of coupled systems made up of rigid bodies and flexible ap pendages. Vibration is unavoidably induced by attitude control or external excit ations. Low amplitude vibration near the equilibrium point is especially difficu lt to suppress, and this is harmful to stability and attitude control accuracy. To solve this problem, a golden section adaptive control method based on the cha racteristic model was adopted, in which a differential damping term was introduc ed to suppress vibration. An experimental setup was designed and manufactured to verify this approach. The effectiveness of active vibration controllers at supp ressing unwanted vibration due to environmental excitation was investigated, esp ecially undesirable oscillations caused by motor torque during hub slewing. Expe rimental results show that this algorithm not only increases the effectiveness of vibration damping but also damps low amplitude vibrations near the equilibri um point faster than traditional control schemes, proving that this control sche me improves control of vibration.

参考文献/References:

[1] SUN Dong, MILLS J K, SHAN Jinjun, et al. A PZT actuator control of a singl e link flexible manipulator based on linear velocity feedback and actuator placeme nt[J]. Mechatronics, 2004, 14(2): 381-401.
[2]WILSON D S G, PARKER G G. Robust control design for flexible link/flexiblejoint robots[A]. Proceedings of the IEEE International Conferen ce on Robotics and Automation[C]. San Francisco, USA,2000.
[3]LUO Z. Direct strain feedback control of flexible robot arms: new theoret ic al and experimental results[J]. IEEE Transactions on Robotics and Automation, 1993, 38(11): 1610-1622.
[4]GE S S, LEE T H, ZHU G. Improving regulation of a singlelink flexible ma nip ulator with strain feedback[J]. IEEE Transactions on Robotics and Automation, 1998, 14(1): 179-185.
[5]SONG G, SCHMIDT S P, AGRAWAL N. Experimental robustness study of positive po sition feedback control for active vibration suppression [J]. Journal of Guida nce, 2002, 2(1): 179-182.
[6]PARK J, CHANG P H, PARK H S, et al. Design of learning input shaping techn iq ue for residual vibration suppression in an industrial robot [J]. IEEE/ASME Tr ansactions on Mechatronics, 2006, 11(1): 55-65. 
[7]王晓磊,吴宏鑫. 挠性航天器振动抑制的自适应方法及实验研究[J]. 宇航学报,2005 ,26(3): 275-281.
WANG Xiaolei, WU Hongxin. Adaptive control scheme and experi ment for vibration suppression of flexible spacecraft[J]. Journal of Astronaut ics, 2005, 26(3): 275-281.
[8]吴宏鑫,刘一武. 特征建模与挠性结构的控制[J]. 中国科学, 2001, 31 (2) : 137-149. 
WU Hongxin, LIU Yiwu. Characteristic model and flexible str ucture control [J]. Science in China , 2001, 31(2): 137-149.
[9]雷拥军, 吴宏鑫. 基于多变量特征模型的机械手自适应控制[J]. 宇航学报,2005,26(7): 410-414.  LEI Yongjun, WU Hongxin. Manipulator adaptive control based on multivariable characteristic model[J]. Journal of Astronautics, 2005,26( 7): 410-414.
 [10]吴宏鑫, 王 颖, 解永春. 非线性黄金分割自适应控制[J]. 宇航学报,20 02,23(11) : 19-26. 
 WU Hongxin, WANG Ying, XIE Yongchun. Nonlinear golden section adaptive control [J]. Journal of Astronautics, 2002,23(11): 19-26. 
[11]吴宏鑫. 全系数自适应控制理论及其应用[M] . 北京:国防工业出版社,1 990.

备注/Memo

备注/Memo:
收稿日期:2007-02-28.
基金项目:
国家自然科学基金资助项目(60404020);
国家自然科学基金空天飞行器重大研究计划资助项目(90505014);
广东省自然科学基金资助项目(05006499)
作者简介:
邱志成,男,1973年生,博士,副教授,主要研究方向为挠性结构的建模与控制、机器人学与机器人控制.发表论文30余篇,其中SCI、EI和ISTP收录15篇. E-mail:zhchqiu@scut.edu.cn.
吴宏鑫,男,1939年出生,研究员, 博士生导师, 中国科学院院士,主要研究方向为智能控制、自适应控制、航天器控制.曾获国家发明三等奖1项,部级科技进步一等奖1项、二等奖4项,全国优秀科技图书二等奖1项,获国家发明专利2项.发表论文70余篇,出版专著1部.
更新日期/Last Update: 2009-05-07