CN102289202B - Piezoelectric intelligent structure vibration active control method for identifying control channel on line and in real time - Google Patents
Piezoelectric intelligent structure vibration active control method for identifying control channel on line and in real time Download PDFInfo
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Abstract
The invention relates to a piezoelectric intelligent structure vibration active control method for identifying a control channel on line and in real time. A piezoelectric intelligent structure vibration active control experimental platform is directly utilized to realize an piezoelectric intelligent structure vibration active control experiment for identifying the control channel on line and in real time; in an identification link, an FIR (Finite Impulse Response) filter structure is adopted to describe a control channel model and a white noise signal is led in at a control output end to be used as an identification input signal; and the vibration active control method with a function of identifying the control channel on line and in real time is realized by continuously bringing newly identified model parameters into a control algorithm process. The control method disclosed by the invention has stronger applicability and practicality and better method basis and technical thinking are provided for development of the field of vibration active control.
Description
Technical field
The present invention relates to the piezo-electric intelligent structure Method of Active Vibration Control of a kind of control channel online in real time identification, relate in particular to a kind of online in real time identification piezo-electric intelligent structure Method of Active Vibration Control of auto adapted filtering feedforward control least mean square algorithm.
Background technology
Intelligence structure is being represented a 21 century material and new direction of structural development, has very tempting prospect in the Active Vibration Control field especially, has become the research focus of vibration engineering circle at present.The active damping intelligence structure is one of important content of intellectual material structural research; It utilizes the sensor monitors structural vibrations situation in the structure of imbedding; Go control in real time to imbed driver in the structure according to certain control law to change the structural vibrations state; Reach the purpose of Adaptive Suppression structural vibration response, thereby improved the performance and the security of structure, prolonged its serviceable life.Piezoelectric is owing to exist positive inverse piezoelectric effect; Can not only be used as alert and resourceful sensing material; And can be used as intelligence and activate or driving element; And having low-power consumption, electric operation, bandwidth and power by self inner excellent specific property that produces, therefore very suitable aerospace structure is monitored the needs with control, for example in the near space vehicle active control in structural vibration, uses.
Almost relate to all branches of modern control theory based on the Method of Active Vibration Control of piezo-electric intelligent structure; And developed multiple Method of Active Vibration Control on this basis; Wherein mode control, POLE PLACEMENT USING and method for optimally controlling all are based on the vibration control method of controlled structures accurate model, therefore on using, have significant limitation.At present; Auto adapted filtering feed forward control method research with based on lowest mean square XLMS algorithm obtains extensive concern; And in experiment, obtained and controlled effect preferably, the essence of its control strategy is: at first set up the mathematical model of controlled structures system and controller with the form of wave filter, confirm controlled structures system model parameter; Try to achieve the optimal controller parameter with Digital Signal Processing again; The core that realizes is an adaptive control algorithm, and it adjusts controller parameter in real time according to the fresh information that records, and guarantees that the control effect is tending towards optimum all the time.In the implementation process of this algorithm; Exist one to know that (so-called control channel model is exactly the transport function between from the control signal to the error signal to control channel model parameter problem; Also often be referred to as error path model or secondary channel model); Therefore if the control channel modelling is improper or the identification error is excessive, will has a strong impact on the ACTIVE CONTROL effect even cause that control system disperses.Therefore, the identification strategy of control channel model becomes one of important step of performance control algolithm efficiency with the technology that realizes.
Current in structural vibration auto adapted filtering feedforward control research process, mainly adopt off-line identification and two kinds of strategies of on-line identification to the control channel identification of Model Parameters.The off-line identification strategy has realizes simple and the reliable advantage of identification result; But consider the gradually changeable of the change in physical properties and the system performance of controlled structures; The model parameter that utilize the off-line identification method to obtain this moment will produce than mistake, and then have a strong impact on control effect and control accuracy; For example change in physical properties and the load character gradual change of near space vehicle during in orbit will possibly cause system performance that great change takes place fully, utilizes this moment the off-line identification method to reach it is suppressed vibrating effect.Therefore control channel model online in real time discrimination method and realization Study on Technology are not only had practical significance, and can satisfy the requirement of the robustness and the control accuracy of control system better.
Summary of the invention
The piezo-electric intelligent structure Method of Active Vibration Control that the purpose of this invention is to provide the identification of a kind of control channel online in real time; And the auto adapted filtering ACTIVE CONTROL of carrying out the piezoelectric structure vibratory response based on control channel on-line identification strategy; This method organically combines feedover vibration control basic structure and auto adapted filtering discrimination method of auto adapted filtering; Constitute the Method of Active Vibration Control of a kind of control channel online in real time identification; Can obtain the better controlling effect, realize strengthening the target of control system adaptive ability simultaneously.
For achieving the above object, following technical scheme is adopted in this invention:
The piezo-electric intelligent structure Method of Active Vibration Control of a kind of control channel online in real time identification is characterized in that directly utilizing piezo-electric intelligent structure vibration experiment platform, realizes the intelligent piezo active control in structural vibration experiment of online real-time identification control channel; Through auto adapted filtering feedforward control basic structure and Adaptive Identification method are organically combined; Thereby constitute a kind of structural vibration auto adapted filtering control algolithm with control channel online in real time discriminating function; The main involving vibrations controlling unit of this method and control channel identification link two parts, the vibration control link adopts finite impulse response filter (FIR) and filtering X Minimum Mean Square Error control algolithm thereof; Control channel identification link adopts with FIR filter construction description control channel pattern, and introduces white noise signal as the identification input signal in the control output end, thereby constitutes a control channel self-adaptation Real-time modeling set link; When the output of identification link controller and steady state value of sensor error signal stack convergence; Can think that the on-line identification process finishes and obtained the control channel model parameter; So can be according to the needs of structural vibration control process; Constantly real-time online identification error path model, and the model parameter of constantly coming out with new identification is brought algorithmic procedure into, thereby realizes having the Method of Active Vibration Control of control channel online in real time discriminating function; In the whole algorithm calculating process, utilize the performance arbiter to judge in real time whether the on-line identification link is accomplished, thereby realized the hyperchannel online in real time identification Method of Active Vibration Control of 8 inputs, 8 outputs.This method only needs algorithm routine and necessary hardware equipment, is characterized in easy and simple to handle, and adaptability is strong, has higher robustness.For realizing above-mentioned technical characterictic, the control operation step of this method is following:
(1) exponent number and the step factor of vibration control link median filter are set, the exponent number of identification filter model and step factor: in the vibration control link, controller is selected the FIR filter construction, and the exponent number of wave filter and the step factor of control algolithm are set; The on-line identification part, adopting the FIR filter construction is the control channel model of treating identification, and it is provided with the exponent number of wave filter and the step factor of identification algorithm.
(2) choose and disturb the reference signal that signal has correlativity outward; Gather the multichannel vibration response signal; Add the sizeable white noise signal of variance: because the exciting source signal is with to disturb signal correlation outward higher; Choose exciting source signal signal as a reference, gather the measured vibration response signal of multichannel piezoelectric sensor in the piezo-electric intelligent structure, add the sizeable white noise signal of variance.
(3) Rule of judgment of performance criteria device is set: its essence is: when the output of identification link controller and steady state value of sensor error signal superposition
convergence; Can think that the on-line identification process finishes and obtained the control channel model parameter; So can be according to the needs of structural vibration control process; Continuous real-time online identification control channel model, and the model parameter of constantly coming out with new identification is brought algorithmic procedure into.
(4) controlling unit and control channel identification link are moved simultaneously, realize online in real time identification control method truly, and concrete detailed step is following:
1. according to least mean square algorithm the controller weighting coefficient is revised;
2. according to least mean square algorithm the control channel model parameter is revised;
3. monitor the Rule of judgment of the performance criteria device in the above-mentioned steps (3) in real time, in case criterion satisfies, 2. the input and the step that stop white noise immediately operate, and preserve the control channel model parameter, if do not satisfy, continue execution in step 2.;
4. for the whole controlling system link be: according to system control residual error repeatedly execution in step 1., until reaching the control requirement;
1. adopt the correction algorithm of following iterative equation in controller weighting coefficient correction step as controller parameter:
（2）
The control channel model parameter corrected Calculation of step in 2.:
（4）
The calculating of the system control residual error of step in 4.:
In
be controller output, it calculates as follows
(5) preserve related data in real time, for experimental analysis is prepared: adopt binary format to preserve data, be translated into the TXT file, with the Matlab data analysis that experimentizes.
The present invention compared with prior art has following conspicuous outstanding feature and remarkable advantage:
(1) the control channel identification in linearity; Make identification process do not moved the restriction of hardware and executive means; Can under the prerequisite that does not increase any instrument and equipment and manual intervention, carry out, not only adapted to the actual environment operation the requirement of identified parameters in linearity to the control channel Model Distinguish; And practiced thrift cost, simplified implementation procedure;
(2) real-time of control channel identification; Controlling unit and on-line identification link are carried out simultaneously; Model parameter to the control channel identification is used in the controlling unit in real time; In the time of can satisfying control channel physical characteristics and system performance and change, control system is to the accuracy of controlled structures control channel identification of Model Parameters, thereby improved the whole controlling system effect.
(3) utilize the performance arbiter that control procedure is detected, reach the precision of expection in case judge identified parameters, stop identification part correlation program immediately, the white noise signal of having avoided like this adding in the identification link process is to the influence of system.
The hyperchannel property of (4) on-line identification method; Make the controlled system model parameter of acquisition satisfy the requirement of multiple-input and multiple-output control strategy; The accurate enforcement of hyperchannel discrimination method simultaneously; Can adapt to the controlled structures real physical characteristics preferably and change requirement, therefore further strengthen adaptivity, robustness and the control accuracy of control system the controller parameter correction;
The explanation of accompanying drawing table
Fig. 1 vibration control method process flow diagram of the present invention.
A hyperchannel vibration control preferred embodiment Organization Chart of this online in real time identification vibration control method of Fig. 2.
The experimental system of this control algolithm of Fig. 3 photo figure in kind.
The Frequency Response figure of Fig. 4 simulated flight device framed structure.
The Active Vibration Control schematic diagram of Fig. 5 control channel online in real time identification.
The control output signal time course of Fig. 6 passage 1.
The structural vibration response time history of Fig. 7 passage 1.
The structural vibration response time history of Fig. 8 passage 2.
The structural vibration response time history of Fig. 9 passage 3.
The structural vibration response time history of Figure 10 passage 4.
The structural vibration response time history of Figure 11 passage 5.
The structural vibration response time history of Figure 12 passage 6.
The structural vibration response time history of Figure 13 passage 7.
The structural vibration response time history of Figure 14 passage 8.
Figure 15 structural vibration response comprehensively suppresses design sketch.
Figure 16 control channel identification result comparison diagram.
Embodiment
The preferred embodiments of the present invention accompanying drawings is following:
Embodiment one:
Referring to shown in Figure 1, the piezo-electric intelligent structure Method of Active Vibration Control of this control channel online in real time identification, the control operation step is following:
(1) exponent number and the step factor of vibration control link median filter are set, the exponent number of identification filter model and step factor;
(2) choose and disturb the reference signal that signal has correlativity outward, gather the multichannel vibration response signal, add the sizeable white noise signal of variance;
(3) Rule of judgment of performance criteria device is set;
(4) controlling unit and control channel identification link are moved simultaneously, realize online in real time identification control method truly;
(5) preserve related data in real time, for experimental analysis is prepared.
Embodiment two:
Present embodiment is an instance with the vibration control system of simulated flight device framework piezo-electric intelligent structure, and accompanying drawings is following:
Referring to illustrated in figures 1 and 2, the piezo-electric intelligent structure Method of Active Vibration Control of this control channel online in real time identification specifically is the auto adapted filtering feedforward Method of Active Vibration Control of simulated flight device framework piezo-electric intelligent structure, and its concrete control operation step is following:
(1) simulated flight device framed structure surface with distribution paster mode arrange the piezoelectric sensing network 1. with the Piezoelectric Driving network 2., constitute one 8 the input 8 output the hyperchannel vibration control system;
(2) a whole set of produces outer exciting bank of disturbing to simulated flight device framed structure; General principles is: utilize signal generator to produce a pumping signal; Through power amplifier it is amplified, 3. the signal after amplifying is continued excitation to the dummy vehicle framed structure through vibrator.
(3) to the piezoelectric sensing network measuring to charge amplifier and low-pass filter that the structural vibration response signal is nursed one's health, amplification, filtering etc. are handled;
(4) dispose the high-performance industrial computer of data collecting card and data output card, be mainly used in the collection of structural vibration response signal, the execution computing of control algolithm and the output of control signal;
(5) be used for the power amplifier that signal amplifies is exported in control, directly act on the Piezoelectric Driving network through amplifying signal;
Carry out the piezo-electric intelligent structure Active Vibration Control experiment of control channel online in real time identification in conjunction with experiment porch; Experimental situation is as shown in Figure 3; Simulated flight device framed structure is carried out the Frequency Response analysis: use the BK3560 vibration analyzer; And adopt the pulse hammer mode that model structure is carried out shock-testing, and it is as shown in Figure 4 to record the model structure Frequency Response, and preceding 3 rank natural frequencys are respectively 18.75Hz, 40.37 Hz, 59.38 Hz.
First natural frequency 18.75Hz with simulated flight device framed structure is the frequency of disturbing signal outward, utilizes signal generator to produce, and through power amplifier, through vibrator simulated flight device framed structure is continued excitation.No. 8 piezoelectric sensors that are embedded in the framed structure surface are measured vibration signal; Through sending industrial computer to after the charge amplifier amplification; This control algolithm of industrial computer operation; Controller is exported and is acted on actuator after 8 tunnel control signals are amplified through power amplifier, realizes the hyperchannel piezoelectric structure vibration control experiment of 8 inputs, 8 outputs.
Method of Active Vibration Control is as shown in Figure 5, in order to reduce to the negative effect to The whole control system of the noise signal that adds in the identification of control channel online in real time, at white noise signal
WNInput end increases a performance arbiter
PM, be used for white noise signal and whether import the decision condition of whether accomplishing with the on-line identification link.In this experiment, the performance criteria device
PMCriterion be: after applying control signal, when
Be worth continuous 1000 times all one up and down difference be between 0.1 floating zone in the time, the completion of expression identification link stops to add white noise signal and identification link program.
In this example, the filter length of control section is set to 24, and step factor is set to 0.0001; The filter length of on-line identification part is set to 24, and step factor is for being provided with 0.001, and the variance of white noise is 0.4; SF is 1000, constantly applies control since 0.6 second, and shown in Figure 6 is the control output time course of the 1st passage; Fig. 7-14 is the vibratory response time history of the 1st passage to 8 passage; Figure 15 is a model structure overall vibration response time course, can know from experimental result picture, but the structural vibration response amplitude is suppressed very soon significantly after applying this control method of shaking.
Accuracy for the on-line identification of comparative analysis control channel; Being provided with down in same parameter, employing off-line identification method obtains one group of control channel model parameter
; And compare with one group of control channel model parameter H that the on-line identification mode obtains; Promptly adopt formula
to analyze shown in figure 16; The number percent of difference that can find out all parameters is all less than in 4%; Explain that the model parameter accuracy that the on-line identification method obtains is very high, thereby make the Method of Active Vibration Control based on this identification strategy have very strong feasibility and validity.
Claims (4)
1. the piezo-electric intelligent structure Method of Active Vibration Control of control channel online in real time identification promptly based on the piezo-electric intelligent structure Method of Active Vibration Control of auto adapted filtering feedforward control least mean square algorithm, is characterized in that the control operation step is following:
(1) exponent number and the step factor of vibration control link median filter are set, the exponent number of identification filter model and step factor;
(2) choose and disturb the reference signal that signal has correlativity outward, gather the multichannel vibration response signal, add the sizeable white noise signal of variance;
(3) Rule of judgment of performance criteria device is set;
(4) controlling unit and control channel identification link are moved simultaneously, realize online in real time identification control method truly;
(5) preserve related data in real time, for experimental analysis is prepared;
The Rule of judgment that said step (3) is provided with the performance criteria device is: the output of identification link controller and the superposition of sensor error signal
, and whether
steady state value of convergence;
Said step (4) controlling unit and control channel identification link are moved simultaneously, realize online in real time identification control method truly, and concrete detailed step is following:
1. according to least mean square algorithm the controller weighting coefficient is revised;
2. according to least mean square algorithm the control channel model parameter is revised;
3. monitor the Rule of judgment of the performance criteria device in the above-mentioned steps (3) in real time, in case criterion satisfies, 2. the input and the step that stop white noise immediately operate, and preserve the control channel model parameter, if do not satisfy, continue execution in step 2.;
4. for the whole controlling system link be: according to system control residual error repeatedly execution in step 1., until reaching the control requirement.
2. the piezo-electric intelligent structure Method of Active Vibration Control of control channel online in real time according to claim 1 identification; It is characterized in that said step (1) is provided with the exponent number of vibration control link median filter and the method for step factor is: controller is selected the FIR filter construction, and the exponent number of wave filter and the step factor of control algolithm are set; The on-line identification part, adopting the FIR filter construction is the control channel model of treating identification, and it is provided with the exponent number of wave filter and the step factor of identification algorithm.
3. the piezo-electric intelligent structure Method of Active Vibration Control of control channel online in real time according to claim 1 identification; It is characterized in that said step (2) is chosen and disturb the reference signal that signal has correlativity outward; Gather the multichannel vibration response signal; Adding the sizeable white noise signal method of variance is: choose exciting source signal signal as a reference, gather the measured vibration response signal of multichannel piezoelectric sensor, add the sizeable white noise signal of variance.
4. the piezo-electric intelligent structure Method of Active Vibration Control of control channel online in real time according to claim 1 identification; It is characterized in that said step (5) preserves related data in real time; For experimental analysis is prepared: adopt binary format to preserve data; Be translated into the TXT file, with the Matlab data analysis that experimentizes.
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| CN105187029B (en) * | 2015-07-23 | 2018-01-16 | 深圳信息职业技术学院 | A kind of control method and device based on IFX LMS adaptive algorithms |
| CN105652662B (en) * | 2016-01-30 | 2018-06-12 | 西北工业大学 | A kind of piezoelectric structure Method of Active Vibration Control of narrowband self-adaption filtering |
| CN105717794B (en) * | 2016-04-11 | 2018-07-03 | 同济大学 | Active engine mount FxLMS self-adaptation control methods based on acceleration signal feedback |
| CN109932906B (en) * | 2019-03-14 | 2021-12-31 | 同济大学 | FxLMS active suspension control method based on expansion secondary channel |
| CN111177870B (en) * | 2020-01-16 | 2022-05-06 | 西安交通大学 | Mechanical system model online identification method |
| CN113341806A (en) * | 2021-06-07 | 2021-09-03 | 英飞睿(成都)微系统技术有限公司 | Rapid control reflector control method and system based on online identification |
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| 参考信号自提取的振动主动控制算法;高守玮等;《振动、测试与诊断》;20101031;第30卷(第5期);514-518 * |
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