CN101126916A - Positive vibration damping intelligent flexibility structure controlled model multi-passage on-line identification method - Google Patents
Positive vibration damping intelligent flexibility structure controlled model multi-passage on-line identification method Download PDFInfo
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Abstract
The utility model relates to a multi-channel online identifying method for active vibration-damping intelligent flexible structure controlled model, which directly utilizes the trial platform with piezoelectric active vibration damping intelligent flexible structure to accomplish the online identifying of the parameters of multi-channel model under simulative environment in lab. During the process of identifying, the utility model directly utilizes the former active control experiment equipments platform to accomplish absolute online identifying; the identifying program can be started whenever the identifying conditions are met and good real-time and online performances can be realized. In addition, by setting and changing the identifying parameters to compare and filter so as to accomplish the flexibility of identifying and optimize the identifying results.
Description
Technical field
The present invention relates to a kind of active damping intelligent flexibility structure controlled model multi-passage on-line identification method, relate in particular to a kind of piezoelectricity active damping intelligent flexibility structure controlled model multi-passage on-line identification method based on auto adapted filtering feedforward control least mean square algorithm based on the piezoelectric smart element.
Background technology
Development along with spationautics, the large-scale flexible structure is more and more with application in the formation of spacecraft, as solar energy sailboard, large-scale satellite antenna, space manipulator etc., because above-mentioned Space Flexible Structure need guarantee very high running precision during long-time running, usually vibration environment there is very strict requirement, and this class formation generally has the little damping of low rigidity, the low and intensive feature of mode of natural frequency, space environment does not have extrernal resistance again simultaneously, therefore very easily being disturbed influences and vibrates, and makes exhausted big number conventional vibration control method be difficult to reach the control requirement.At the performance requirement of aerospace system and the vibration characteristic of space structure, current with intellectual material structuring concept realization Active Vibration Control, because the highly difficult and important use of technology is worth, obtained domestic and international association area scientific research personnel's extensive attention, especially to make up the active damping intelligence structure based on the intellectual material structure thought, the vibratory response of implementation structure and the ACTIVE CONTROL of noise radiation, form the research focus in vibration control field and a most active direction, the current research scope has related to military and civilian numerous areas.
In conjunction with active damping intelligence structure present Research and development trend, from the driving element component analysis of flexible intelligent structure, the research of current piezoelectric PZT/PVDF is used can think the most representative achievement.Piezoelectric during as sensor, is its principal feature to low, high strain sensitivity of temperature variation susceptibility and low noise owing to there is positive inverse piezoelectric effect; During as driver, have low-power consumption, electric operation, bandwidth and power, therefore be fit to very much the needs of aerospace structure vibration monitoring and control by self inner characteristic that produce.From the control strategy angle, the control method of active damping intelligence structure almost relates to all branches of modern control theory, 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 have significant limitation on using.At present on control method and design of Controller, realize that based on ADAPTIVE CONTROL the piezo-electric intelligent structure active damping is an important development direction of this research field, wherein obtain extensive concern, and in experiment, obtained and controlled effect preferably with auto adapted filtering feed forward control method research based on lowest mean square XLMS algorithm.
The essence of intelligent flexible structure vibration auto adapted filtering feed forward control method, it is the mathematical model of at first setting up controlled structures system and controller with the form of wave filter, determine 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, 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.Because there is the process of a definite controlled structures system model parameter in this control method, therefore must be to the structural model H of description control passage input-output characteristic
2Carry out identification, to obtain model of cognition H
* 2The Model Distinguish parameter.Tradition is based on the design of Controller process of this control method, generally the modeling process of describing the controlled structures system model in the control channel is adopted the off-line identification method, but consider change in physical properties and load character gradual change during the real space flexible structure in orbit, to may cause system performance that great change takes place fully, controller parameter based on the design of off-line identification method also will produce than mistake thus, and then have a strong impact on control effect and control accuracy.Therefore to controlled structures system model parameter in the auto adapted filtering feedforward controller, carry out the on-line identification method and realize that Study on Technology not only has practical significance, and can satisfy the robustness and the control accuracy requirement of control system better.
Summary of the invention
Purpose of the present invention, be to provide a kind of at piezoelectricity active damping flexible intelligent active control in structural vibration, and based on the controlled structures model hyperchannel on-line identification method of auto adapted filtering feed forward control method and lowest mean square XLMS algorithm thereof, this method utilizes improved least mean square algorithm to carry out the on-line identification of controlled structures model parameter, the model parameter of acquisition adapts to and revises the piezoelectricity active damping adaptive controller design of multiple-input and multiple-output mode, has realized the target that reduces error, minimizing calculated amount, strengthens the control system adaptive ability.
For achieving the above object, following technical scheme is adopted in this invention:
A kind of active damping intelligent flexibility structure controlled model multi-passage on-line identification method based on the piezoelectric smart element, it is characterized in that directly utilizing piezoelectricity active damping flexible intelligent structure testing platform, under the laboratory simulation test environment, realized the on-line identification of structure controlled passage model; Can directly utilize original Active Vibration Control equipment platform in the identification process and do not need equipment is carried out any increase and decrease and switching, realize on-line identification target completely; Under the situation that identification condition satisfies, just can start identification program at any time, realized good real-time performance; Can pass through software set, change identified parameters (frequency acquisition, passage length etc.), thereby compare and screen, realize the dirigibility of identification, optimize identification result.The realization of controlled model parameter hyperchannel on-line identification only needs the on-line identification program and the necessary hardware equipment of Vibration on Start-up ACTIVE CONTROL core controller (adopting computing machine to connect high-speed data acquisition card in the present invention constitutes), be characterized in easy and simple to handle, adaptability is strong.For realizing above-mentioned technical characterictic, this method may further comprise the steps at least:
(1) the outer excitation of shielding makes intelligent flexible structure static, thereby but be in the identification state;
(2) for increasing identification precision, should choose suitable identification signal excited frequency by test, make the waveform of the waveform of output signal and acquired signal keep maximum correlativity (consider the factor that as far as possible reduces the structural vibration coupling, choose with the contiguous frequency excitation signal of the controlled model frequency of structure as identification signal);
(3) the identification strategy is set, starts online recognition software, obtain identification result, its process feature comprises following key step:
1. the identification strategy is set, comprises identification error threshold, total operation times threshold value, passage identification frequency threshold value etc.;
2. to composing the random number initial value when previous passage TRANSFER MODEL;
3. judge whether the identification operation times surpasses setting threshold, if do not exceed, then execution in step 4.;
4. carry out the correction of a transmission channels model according to least mean square algorithm;
5. calculate the identification error, and store this error;
If 6. this error is less than preset threshold, and continuously less than number of times more than the number of times of setting, then 3. 7. execution in step otherwise forward step to;
7. preserve this channel pattern;
8. judge whether last channel pattern, if, then point out the identification success, finish identification; Otherwise forward the identification that 2. begins next new model passage to; So repeatedly, until all of controlled model channel parameters identification success is described.
4. adopt the correction algorithm of following iterative equation in the identification process step as the channel pattern parameter:
h
p(k+1)＝h
p(k)+2μe*x(k-p+1)?------------------------------(1)
5. adopt the algorithm of following equation in the identification process step as Error Calculation:
Wherein, e (k) is the identification error,
Be the structural vibration sensor response that actual detected arrives, y (k) is the structural vibration sensor response of theoretical prediction, [h
1(k), h
2(k) ... h
p(k) ..., h
p(k)]
TIt is the identified parameters vector of a certain model passage.
The present invention makes it compare with existing method and has following tangible advantage and outstanding substantive distinguishing features owing to adopted the on-line identification method and the realization technology of controlled model:
(1) discrimination method in linearity, make identification process do not moved the restriction of hardware and executive means, can be under the prerequisite that does not increase any instrument and equipment and manual intervention, utilize control program to open the required basic facilities of identification process automatically and also successfully realize identification, not only adapted to the actual environment operation to the requirement of identified parameters in linearity, and saved cost, simplified implementation procedure;
(2) discrimination method can be realized satisfying in any time of identification condition, promptly as long as flexible structure is in relative static conditions, just can realize identification immediately, help the timely correction of controlled structures channel pattern parameter like this, strengthen the dirigibility of identification process the structure channel model;
(3) the Control Software real time modifying identified parameters that can utilize controller to carry, thus different identification results are compared, screen and optimize, to reach best control effect, increased the control accuracy that control method is implemented in a certain sense;
The hyperchannel 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 requirement of controlled structures real physical characteristics variation preferably, therefore further strengthen adaptivity, robustness and the control accuracy of control system the controller parameter correction;
(5) realize on-line identification by the controller output end superposed signal, possess the superiority of being convenient to simulate aspects such as disturbing signal outward, applicable band is wide, convergence good, response speed that manipulated signal is changed is fast, computation complexity is low.
(6) in the design of discrimination method, simplifying controlled flexible structure is linear system, therefore single pass FIR wave filter can fast and effeciently be described certain channel parameters of controlled structures model, on this basis by making up the go forward side by side line linearity stack of each channel pattern parameter, can draw the model of cognition parameter of complete multiple-input and multiple-output controlled structures model, therefore simple in structure, the clear process of this on-line identification method are easy to the technology realization.
The explanation of accompanying drawing table
Fig. 1 is the implementation structure block diagram of this controlled model on-line identification method, and wherein figure (a) is the system architecture synoptic diagram, the theory diagram that figure (b) realizes for technology.
Fig. 2 is a hyperchannel identification of this an on-line identification method preferred embodiment Organization Chart.
Fig. 3 is the identification process software program flow chart of this on-line identification method.
Fig. 4 is at this hyperchannel identification preferred embodiment, is two time history diagrams that passage identification error changes with the identification operation times wherein.
Fig. 5 is based on the pilot system of this on-line identification method photo figure in kind.
Fig. 6 is the controlled model identified parameters based on this preferred embodiment, and then Correction and Control device parameter realizes the overall control design sketch of piezoelectric intelligent adagio structure adaptive vibration control.
Figure 7 shows that the Oscillation Amplitude comparison diagram of second the vibration monitoring sensor in control front and back.
Figure 8 shows that the Oscillation Amplitude comparison diagram of the 3rd the vibration monitoring sensor in control front and back.
Fig. 9 (a) is respectively the power spectrum comparison diagram of second sensor before and after the control shown in (b).
Figure 10 is the detail record of 16 channel parameters of identification model in this preferred embodiment.
Embodiment
A preferred embodiment accompanying drawings of the present invention is as follows:
Referring to Fig. 2, the enforcement of piezoelectricity active damping intelligent flexibility structure controlled model multi-passage on-line identification method of the present invention, comprise a computing machine that is used for data acquisition and analysis 8., the controlled passage model comprises following ingredient: with the paster mode be arranged in the flexible cantilever girder construction 1. the surface the piezoelectric sensing network 2. with the Piezoelectric Driving network 3., the 2. detected structure vibration signals of piezoelectric sensing network is nursed one's health, amplify, the charge amplifier that filtering etc. are handled 4., low-pass filter 5., 6., 8. the power amplifier that amplifies of the control signal that produces of middle controller is 7. to computing machine.The multi-channel high-speed data capture card is installed in 8. computing machine and one constitutes controller, contains the controlled model hyperchannel on-line identification software program of being developed simultaneously.
Piezoelectricity active damping intelligent flexibility structure controlled model multi-passage on-line identification method of the present invention, the technology implementation procedure of its concrete identification is shown in Fig. 1,3.This method is implemented by above-mentioned piezoelectricity active damping intelligent flexible structure experiment porch, and detailed process and ins and outs are as follows:
With the model frequency to be controlled of piezoelectric intelligent flexible structure, as disturbing signal outward structure is carried out identification excitation, it is that the sinusoidal signal of 2V is as identification signal, by after the power amplification controlled passage being encouraged that this first is selected 35.9Hz, peak-to-peak value.This signal is from the computer software setting, send from pci interface, through the conditioning of low-pass filter and the amplification of power amplifier, drive pressure electric drive network work, controlled structures is produced the vibrational excitation effect, and this signal also is used for the execution of identification algorithm in computer-internal simultaneously.
The piezoelectric sensing network measuring is to the structural vibration response signal, conditioning through charge amplifier, low-pass filter is amplified, collection enters into computing machine, thereby constitutes a closed loop procedure with the generation of above-mentioned identification signal, and carries out the online in real time identification of a controlled passage model.
The setting of identification strategy is a main target with the active control in structural vibration best results, takes into account the requirement that reduces calculated amount.In this example, the number of active lanes of the piezoelectric sensing signal input AD conversion of detection architecture vibrational state is 4, the DA ALT-CH alternate channel number of output control signal also is 4, and then always total 4*4=16 controlled model passage need carry out on-line identification, and then obtains the identification model parameter; Identification error threshold=0.01 is set, identification number of success lower limit=10000 times, channel pattern is described with the FIR filter form, and length is made as 24.
According to identification signal and former passage identification model, calculate the prediction transducing signal according to above-mentioned formula (2), according to above-mentioned formula (3), the difference of this prediction signal and actual sensor signals is exactly the identification error.Judge this identification error whether less than the identification error threshold of setting 0.01, if less than, then judge whether to satisfy continuous more than 10000 times less than 0.01; If do not satisfy this two conditions, then carry out the adjustment of a channel pattern according to above-mentioned formula (1), then carry out the identification of channel pattern again.For certain passage, if behind 50000 identification processes, still do not draw the identification model of this passage, then the last identification result of this passage is stored as approximate channel pattern parameter, and then the next passage of identification; If these two conditions have satisfied, then this passage identification is finished, this channel pattern parameter of Computer Storage, and judge whether this passage is last passage.If not, then proceed the identification of next passage; If last passage then finishes identification process and points out identification process to finish, adopt the controlled model channel parameters pick out to carry out controller parameter simultaneously and upgrade and revise, and the correlation model parameter can be write the storage file and carry out complete preservation.
In actual identification process experiment, channel pattern can both come out with the fast speeds identification, and does not have the situation of channel pattern identification failure to take place, and the decay course of identification error as shown in Figure 4.
After structure controlled model parameter identification is finished, on the basis of controller parameter being revised by this identification model parameter, and then carry out piezoelectric intelligent flexible structure vibration adaptive control experiment in conjunction with experiment porch.In this example, the structure pumping signal is taken from outer excitation vibrator, accumulation signal is taken as the sinusoidal signal of 30Hz, and employing multiple input multiple output adaptive filtering feed forward control method, apply control action since the 6000th sampling instant, Figure 5 shows that structural vibration response control front and back overall situation course die-away time, Figure 6 shows that the vibratory response amplitude contrast of second the structural vibration monitoring sensor in control front and back, Figure 7 shows that the vibratory response amplitude contrast of the 3rd structural vibration monitoring sensor before and after the control, Fig. 8 (a) is respectively the structural vibration response power spectrum contrast of second sensor before and after the control shown in (b).By the actual experiment result as can be seen, good control effect has further been verified the correctness of controlled model on-line identification method of the present invention and realization technology.
Figure 10 illustrates the record of distinguishing 16 channel parameters of model in this enforcement preferred embodiment.
Claims (4)
1. active damping intelligent flexibility structure controlled model multi-passage on-line identification method, especially be piezoelectricity active damping intelligent flexibility structure controlled model multi-passage on-line identification method based on auto adapted filtering feedforward control least mean square algorithm, it is characterized in that directly utilizing piezoelectricity active damping flexible intelligent structure testing platform, under the laboratory simulation test environment, realize the on-line identification of controlled structures multi-channel model parameter; Directly utilize original Active Vibration Control experimental facilities platform in the identification process, realize complete on-line identification; As long as identification condition satisfies, just can start identification program at any time, embody good real time performance in linearity; Simultaneously can pass through the setting changing identified parameters, compare, screen, realize the dirigibility of identification, optimize identification result.
2. the active damping intelligent flexibility structure controlled model multi-passage on-line identification method based on the piezoelectric smart element according to claim 1, it is characterized in that adopting method, carry out the on-line identification of controlled structures multi-channel model parameter in controller output end stack pumping signal; Choosing of described stack pumping signal should be similar to outside excitation as far as possible, before to the analysis of Structural Natural Vibration Characteristic, chooses the frequency of the controlled model frequency of proximity structure as this stack pumping signal according to identification.
3. active damping intelligence flexible controlled model hyperchannel on-line identification method according to claim 2 is characterized in that the on-line identification of described multi-channel model parameter, and step is as follows:
1. the identification strategy is set, comprises identification error threshold, total operation times threshold value, passage identification frequency threshold value;
2. to composing the random number initial value when previous passage TRANSFER MODEL;
3. judge whether the identification operation times surpasses setting threshold, if do not exceed, then execution in step 4.;
4. carry out the correction of a transmission channels model according to least mean square algorithm;
5. calculate the identification error, and store this error;
If 6. this error is less than preset threshold, and continuously less than number of times more than the number of times of setting, then 3. 7. execution in step otherwise forward step to;
7. preserve this channel pattern;
8. judge whether last channel pattern, if, then point out the identification success, finish identification; Otherwise forward step to 2., the identification of beginning new tunnel model parameter.
4. active damping intelligence flexible controlled model hyperchannel on-line identification method according to claim 3, its feature
Be the 4. middle correction algorithm that adopts following iterative equation as the controlled passage model parameter of described step:
h
p(k+1)＝h
p(k)+2μe*x(k-p+1)；
Described step 5. in, adopt the algorithm of following equation as Error Calculation:
y(k)＝X
T(k)H(k)，
＝[x(k)，x(k-1)，…x(k-P+1)]*[h
1(k)，h
2(k)，……h
p(k)，……，h
P(k)]
T，
Wherein, e (k) is the error of identification,
Be the structural vibration sensor response that actual detected arrives, y (k) is the structural vibration sensor response of theoretical prediction, [h
1(k), h
2(k) ... h
p(k) ..., h
P(k)]
TIt is the identified parameters vector of a certain channel pattern.
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| CN102128995A (en) * | 2010-12-24 | 2011-07-20 | 上海电机学院 | Device and method for real-time online identifying piezoelectric parameters of piezoelectric ceramic |
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