CN101327849A - Jet type driver-based apparatus and method for inhibiting flexibility structural vibration - Google Patents
Jet type driver-based apparatus and method for inhibiting flexibility structural vibration Download PDFInfo
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- CN101327849A CN101327849A CNA2008100288757A CN200810028875A CN101327849A CN 101327849 A CN101327849 A CN 101327849A CN A2008100288757 A CNA2008100288757 A CN A2008100288757A CN 200810028875 A CN200810028875 A CN 200810028875A CN 101327849 A CN101327849 A CN 101327849A
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Abstract
The invention discloses a device and a method for inhibiting flexible structure vibration, based on jet drivers. The device has two nozzles as the jet drivers respectively arranged on the front and the back of the transverse middle part of a flexible beam. On a pneumatic circuit, two nozzles are respectively connected with a two-bit triple valve through pneumatic nozzle joints; the two-bit triple valve is connected with a pneumatic proportional valve; the pneumatic proportional valve is connected with a pneumatic three-link piece; and the pneumatic three-link piece is connected with an air pump. On circuit drive, the two-bit triple valve and the pneumatic proportional valve are connected with a switch valve driving-amplifying circuit board; and the switch valve driving-amplifying circuit board is connected with a multi-channel D/A conversion card. The method for inhibiting flexible structure vibration comprises the following steps that: according to the bending mode information sensed by a piezoelectric sensor and an acceleration sensor, after an active vibration control strategy for switching control is operated, large-amplitude vibration is controlled to attenuate through the jet drivers. The device fully utilizes the characteristic that the jet drivers are high in power, so as to rapidly inhibit large-amplitude vibration.
Description
Technical field
The present invention relates to the large-scale flexible structural vibration control, the apparatus and method that particularly relate to a kind of Active Vibration Control of flexible outer space structure, specifically provide a kind of at the overhanging flexible structure of the flexible space cantilever of simulation, application is based on jet type driver, and piezoelectric transducer and acceleration pick-up are realized the Active Vibration Control apparatus and method by distributing rationally.
Background technology
Large space flexible structure annex such as solar array and antenna, its obvious characteristics is that size is big, in light weight, flexible big, modal damping is little, vibration natural frequency is low and is densely distributed, therefore the after vibration problem that is disturbed is inevitable, therefore need carry out ACTIVE CONTROL to vibration.Especially under the space condition, flexible structure is difficult to control more, therefore, the ACTIVE CONTROL of large-scale flexible structural vibration is challenging important topic with regard to becoming world today's common concern, the vibration characteristic of research large space structure, and it is carried out vibration control is important topic and difficult point in the space structure design task.In order to ensure space flight system can be steady in a long-term work, must control effectively the vibration of the large-scale flexible appendage of aerospacecraft.The appearance of intelligence structure thought is for the vibration control problem that solves large-scale space flight flexible structure provides new thinking.Adopt intellectual material the space flexible structure to be carried out active vibration control, realize that the fast vibration of flexible structure suppresses, improve spacecraft attitude stabilization and pointing accuracy as sensor and actuator composition intelligence structure technology.More in the prior art for carry out flexibility structural vibration control research based on piezo-electric intelligent structure, obtained significant progress.But for the vibration control of large-scale flexible structure, the power of piezoelectric actuator is relatively low, so the time that the vibration suppression of large-scale flexible structure is needed is longer.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, what the big amplitude vibration of a kind of quick inhibition was provided vibrates quick control device based on the big amplitude of jet-propelled drive-type flexible cantilever deflection of beam mode.
Another object of the present invention is to provide the control method of utilizing said apparatus.
In order to achieve the above object, of the present invention being contemplated that: large-scale flexible space sailboard structure is the overhanging flexible structure of cantilever substantially, the vibration of its lower mode is with last very long, carry out the measurement and the control method research of large-scale flexibility structural vibration, suppress with the fast vibration of realizing flexible structure, improve the attitude stability and the pointing accuracy of spacecraft.In order to carry out the quick inhibition of large-scale flexible structure, adopt the bigger air-blast atomizer of relative power as jet type driver, and with piezo ceramic element as sensor and actuator material, with industrial control computer as control platform, by software programming realize that human-computer interaction interface carries out that signal shows in real time, control algorithm operation and output control.In order to realize the vibration suppression of large-scale flexible structure apace, adopt jet type driver to control, compensated the relatively little problem of power of piezoelectric actuator; By to the distributing rationally of piezoelectric transducer and actuator, acceleration pick-up and jet type driver, be used in combination jet type driver and piezoelectric actuator and carry out the flexibility structural vibration ACTIVE CONTROL; Adopt jet type driver to control the quick inhibition of the vibration of big amplitude, also can adopt the vibration of piezoelectric actuator control small magnitude simultaneously, realized the purpose of the vibration suppression of intelligent flexible structure; What the invention provides a kind of simulation space flexibility structural vibration ACTIVE CONTROL carries out the experimental set-up and the test method of Study on Vibration Control based on combination jet-propelled driving and piezo-electric intelligent structure.
According to top inventive concept, the technical solution used in the present invention is as follows:
Device based on the inhibition flexibility structural vibration of jet type driver, at the horizontal 20～25mm of flexible beam fixed end place, multi-disc piezoelectric ceramic piece along the symmetry stickup of two sides, the vertical front and back of flexible beam, piezoelectric ceramic piece is 20～100mm at the fore-and-aft distance of flexible beam each other, the attitude angle is 0 °, and the two-sided polarity of multi-disc piezoelectric ceramic piece is connected in parallel on the contrary and forms the mode of flexural vibration piezoelectric actuator together; The mode of flexural vibration sensor is a collection of piezoelectric ceramic piece, is attached to laterally close fixed end 50～125mm place of flexible beam, is positioned at the longitudinal midline of flexible beam, and the attitude angle is 0 °; Near the free end middle part acceleration pick-up is installed at flexible beam; The mode of flexural vibration sensor is connected with a low frequency charge amplifier respectively with acceleration pick-up, and the low frequency charge amplifier is connected with computing machine by multi-channel A/D translation data capture card, and telltale connects computing machine; The mode of flexural vibration piezoelectric actuator is connected with the Piezoelectric Driving high-voltage amplifier, and the Piezoelectric Driving high-voltage amplifier is connected with computing machine by multi-channel D/A transition card; At the pros and cons of flexible beam lateral middle two nozzles as jet type driver are installed respectively; On pneumatic circuit, two nozzles are connected with a two-position three-way valve by the air-blast atomizer joint respectively, and two-position three-way valve is connected with pneumatic proportional valve, and pneumatic proportional valve links to each other with pneumatic triple piece, and pneumatic triple piece links to each other with air pump; On circuit drives, two-position three-way valve also drives magnification circuit plate with switch valve respectively with pneumatic proportional valve and is connected, and switch valve drives magnification circuit plate and is connected with multi-channel D/A transition card.
Use the above-mentioned method of stating device, comprise the steps: based on the inhibition flexibility structural vibration of jet type driver
(1) open computing machine, parameter initialization comprises the setting of initial value setting, A/D data acquisition and the corresponding primary data of D/A output control card, control address and the type of drive of control algorithm parameter;
(2) open charge amplifier and Piezoelectric Driving high-voltage amplifier, the flexural vibration mode frequency that adopts the identification of disturbance force hammer exciting identification method to obtain;
(3) the oscillation frequency information of utilizing identification to obtain, the control policy of realization mode of flexural vibration mode; Control policy comprises: the signal of gathering is carried out classical moving average filter handle, the control sampling time is 1ms, adopts a plurality of sampled datas to carry out moving average, and adopts control algorithm to calculate; The flexural vibration mode frequency that identification obtains according to step (2) is input in the control policy by human-computer interaction interface, and relevant parameters is set for ACTIVE CONTROL;
(4) with of the vibration of disturbance force hammer according to the excitation method excitation flexible beam mode of flexural vibration of step (2), behind the information via charge amplifier of the crooked revolving die attitude that will gather by the piezoelectric transducer of mode of flexural vibration, gather vibration information by the A/D transition card, show that by two windows acceleration/accel and piezoelectric ceramic piece detect the vibration information of mode of flexural vibration at telltale respectively in real time, pass through man-machine interface, open control policy, controlling quantity outputs to switch valve driving magnification circuit plate through multi-functional D/A conversion and switching value output control card, drive plate drives pneumatic proportional valve and two-position three-way valve, the gas flow of control nozzle is controlled thrust, thereby suppresses flexible vibration of beam; Also can simultaneously controlling quantity be amplified rear drive mode of flexural vibration actuator through the output signal of D/A transition card through piezoelectric ceramics power supply, carry out the vibration control of mode of flexural vibration simultaneously;
(5) after unlatching applies control policy, show bending vibrattion control effect in real time by telltale, and records store data is analyzed;
(6) repeating step (4), (5), and according to the observation of vibrating effect and storage data analysis, the relevant parameters of adjusting control strategy is tested repeatedly, parameter adjustment is the control algorithm parameter described in the step (1), up to obtaining good control effect.
The present invention has following outstanding substantive distinguishing features and remarkable advantage compared with the prior art:
(1) of the present inventionly carries out flexible intelligence structure Active Vibration Control experimental set-up, make full use of the high-power characteristics of jet type driver, make the vibration of big amplitude be suppressed by fast speed based on jet type driver.
(2) switching control strategy of the present invention according to the condition of the amplitude of determining vibration as switch, carries out switching effect between two actuators; When big amplitude is vibrated, adopt jet type driver, switch when small magnitude is arrived in vibration suppression and adopt piezoelectric actuator, overcome the little restriction of piezoelectric actuator power like this, realized the quick decay that big amplitude is vibrated, the quick consumption of energy; And utilize the piezoelectric patches actuator to carry out accuracy control, realize the control of residual oscillation.Simple to operate, it is convenient to use.
Description of drawings
Fig. 1 is based on the apparatus structure scheme drawing of the inhibition flexibility structural vibration of jet type driver.
Fig. 2 is the birds-eye view of sensor and drive optimization configuration structure scheme drawing among Fig. 1.
Fig. 3 is based on the FB(flow block) of method of the inhibition flexibility structural vibration of jet type driver.
Fig. 4 vibrates not control response time history diagram in the example.
Fig. 5 carries out vibration control response time course figure based on jet type driver in the example.
The specific embodiment
The present invention is further illustrated below in conjunction with drawings and Examples, but the scope of protection of present invention is not limited to the scope that embodiment expresses.
As shown in Figure 1, a kind of device of the inhibition flexibility structural vibration based on jet type driver is chosen the flexible beam 3 overhanging 620mm of being of a size of * 150mm * 1.78mm and (is respectively length, in system of axes, be respectively x, y and z) epoxy resin beam as the simulation flexible outer space structure, the epoxy resin beam modulus of elasticity is E
b=34.64GPa, density is ρ
b=1865kg/m3; The flexible beam 3 of this device is fixed as cantilever beam by machinery mount holding device base 19 and support 20.At the horizontal 20～25mm of flexible beam fixed end place, multi-disc (preferred 4 of this example) piezoelectric ceramic piece along the two sides symmetry stickup of flexible beam 3 vertical front and back, piezoelectric ceramic piece is 20～100mm (this example is 90mm) at the fore-and-aft distance of flexible beam each other, the attitude angle is 0 °, and the two-sided polarity of multi-disc piezoelectric ceramic piece is connected in parallel on the contrary and forms mode of flexural vibration piezoelectric actuator 1 together; Mode of flexural vibration sensor 2 is a collection of piezoelectric ceramic piece, be attached to laterally locating of flexible beam near fixed end 50～125mm (this example is 60mm), be positioned at the longitudinal midline of flexible beam, the attitude angle is 0 °, the piezoelectric ceramic piece of mode of flexural vibration piezoelectric actuator 1 and mode of flexural vibration sensor 2 is of a size of 50mm * 15mm * 1mm, and the modulus of elasticity of piezoelectric ceramic and piezoelectric strain constant are respectively E
Pe=63GPa, d
31=166pm/V; At the pros and cons of flexible beam 3 lateral middle two nozzles 4,5 are installed respectively; Near the free end middle part acceleration pick-up 6 is installed at flexible beam 3; Mode of flexural vibration sensor 2 is connected with a low frequency charge amplifier 8 respectively with acceleration pick-up 6, and low frequency charge amplifier 8 is connected with computing machine 10 by multi-channel A/D translation data capture card 9, and telltale 18 connects computing machine 10; Mode of flexural vibration piezoelectric actuator 1 is connected with Piezoelectric Driving high-voltage amplifier 12, and Piezoelectric Driving high-voltage amplifier 12 is connected with computing machine 10 by multi-channel D/A transition card 11; On pneumatic circuit, two nozzles 4,5 are connected with a two-position three-way valve 17 respectively, and two-position three-way valve 17 is connected with pneumatic proportional valve 16, and pneumatic proportional valve 16 links to each other with pneumatic triple piece 15, and pneumatic triple piece 15 links to each other with air pump 14; On circuit drives, two-position three-way valve 17 also drives magnification circuit plate 13 with switch valve respectively with pneumatic proportional valve 16 and is connected, and switch valve drives magnification circuit plate 13 and is connected with multi-channel D/A transition card 11.Multi-channel A/D translation data capture card 9 and multi-channel D/A transition card 11 can be to insert in the IO expansion slot isa bus groove of computing machine 10.
In this example, pneumatic triple piece 15 is by air filter (model: AF30-03), reducing valve (model: AR25-03) and oil mist separator (model: AFM30-03) form, by 2 dividing plate (models: Y300T) fit together, and have a compression indicator (model: G36-10-01), produce by the pneumatic company of Japanese SMC; Two-position three-way valve 17 is that the pneumatic company of Japanese SMC produces model: VK332-5G-01; Pneumatic proportional valve 16 is produced model: ITV2050-212L by the pneumatic company of Japanese SMC; The air-blast atomizer joint Japan pneumatic company of SMC produces, model: KQ2E06-01, the fluid column stream metallic nozzle that nozzle 4,5 is provided by the pneumatic equipment Co., Ltd of Guangzhou Sen Meigao, the aperture is respectively 0.79mm, 1.2mm the nozzle that 1.5mm and 2.5mm are four types is chosen the aperture as required; Air pump is that the model of Shanghai Jaguar compressor manufacturing Co., Ltd production is the quiet air compressor of FB-0.017/7.Disturbance force hammer 6 can be hammered into shape with the 2302-10 type disturbance force that ENDEVCO company produces.Extremely low frequency charge amplifier 8 can be selected the YE5850 type charge amplifier of Jiangsu connection energy Electronics Co., Ltd. for use; The model that multi-channel A/D translation data capture card 9 can be produced with Taiwan Advantech company is a PCL-818HDA/D translation data capture card; Computing machine 10 can grind magnificent IPC610 cabinet with Taiwan, PCA-6006 mainboard, production unit: Taiwan Advantech company, Pentium IV 2.4G Intel CPU; Multi-channel D/A transition card 11 can be used the PCL-727 type D/A transition card of Taiwan Advantech company; Telltale 18 (model: 151N production unit: Korea S Samsung); It is APEX-PA241DW or APEX-PA240CX amplifier that multichannel Piezoelectric Driving high-voltage amplifier 12 also can be selected model for use, its research institute is South China Science ﹠ Engineering University's (name in applicant application is called " space sailboard bend and turning mode vibration simulation active control device and method ", and application number is in 200810027186.4 the patent detailed introduction to be arranged).Magnification factor can reach 52 times, be about to-5V～+ 5V is amplified to-260V～+ 260V.
Control program of the present invention is write based on C++, driving and conversion comprising A/D translation data capture card 9 and D/A transition card 11, the moving average digital filtering algorithm of signal, realize friendly human-computer interaction interface, show relevant information in real time at telltale 18, provide the real-time monitored function, the opening and closing of control, the input of control policy parameter, handled easilies such as data preservation.The present invention can realize friendly human-computer interaction interface, the information that can show the mode of flexural vibration that A/D translation data capture card 9 is gathered in real time at telltale 18, controlling quantity is through the output of D/A transition card 11, the realization of control algorithm and the adjustment of controlled variable, and the opening and closing of control policy.
When vibration control is tested, firmly hammer the vibration of 7 excitation flexible beams 3 into shape, behind the process charge amplifier 8 vibration information that detects is imported industrial computers 10 through multi-channel A/D translation data capture card 9 respectively respectively by piezoelectric transducer 2 and acceleration pick-up 6, to the detection signal Filtering Processing and after moving control policy, through 11 outputs of multi-channel D/A transition card, through Piezoelectric Driving amplifier 12 drive pressure electric drives 1, through driving pneumatic proportional valve 16 and two-position three-way valve 17 respectively behind the switch valve drive circuit board 13, by control nozzle 4,5 Jet Stream amount is carried out Active Vibration Control.Switching control strategy and method according to above-mentioned flexibility structural vibration control, adopt jet type driver in big amplitude vibration control, piezoelectric actuator is adopted in the small magnitude vibration, has overcome the little restriction of piezoelectric actuator power, realized the quick decay of big amplitude vibration, the quick consumption of energy; And utilize the piezoelectric patches driver control accurately to wait requirement, carry out the control of residual oscillation.Air operated control adopts the Switch Control strategy, promptly when the absolute value of vibration amplitude during greater than a certain preset threshold, start the pneumatic servo loop, the vibration control of carrying out big amplitude is to than small magnitude, switch to piezoelectric actuator and carry out accuracy control, the final inhibition vibrated.
Use above-mentioned simulation space flexible structure based on combination jet type driver and piezoelectric intelligent flexibility structural vibration ACTIVE CONTROL method, comprise the steps:
(1) open computing machine, parameter initialization comprises the setting of initial value setting, A/D data acquisition and the corresponding primary data of D/A output control card, control address and the type of drive of control algorithm parameter; The pneumatic proportional valve is here carried out PD (PD is the abbreviation of Proportional Derivative, is expressed as classical proportion differential control) ratio control control according to piezoelectric patches sensor vibration amplitude signal; Proportional control gain in the PD control algorithm, differential ride gain; Mode of flexural vibration D/A output data initial value is set at 0, guarantees that the initial condition piezoelectric actuator does not have the driving voltage signal.
(2) open charge amplifier 8 and Piezoelectric Driving high-voltage amplifier 12, the flexural vibration mode frequency that adopts the identification of disturbance force hammer exciting identification method to obtain; Release certain distance with disturbance force hammer 7 in the lateral ends position of flexible beam 3 and just encouraged the first rank mode of flexural vibration; Like this, after mode of flexural vibration sensor 2 piezoelectric charge signals are amplified by charge amplifier 8 respectively, by capture card 9 acquisition and recording mode of flexural vibration free vibration response results, with the record data importing in software, by coding, time-domain signal is obtained model frequency by fast Fourier transform (FFT).
(3) the oscillation frequency information of utilizing identification to obtain, the control policy of realization mode of flexural vibration; Control policy comprises: the signal of gathering is carried out classical moving average filter handle, the control sampling time is 1ms, adopts 20 sampled datas to carry out moving average, and adopts control algorithm to calculate; The flexural vibration mode frequency that identification obtains according to step (2) is input in the control policy by human-computer interaction interface, for ACTIVE CONTROL has set relevant parameters;
(4) with of the vibration of disturbance force hammer according to the excitation method excitation flexible beam mode of flexural vibration of step (2), behind the information via charge amplifier of the crooked revolving die attitude that will gather by the piezoelectric transducer of mode of flexural vibration, gather vibration information by the A/D transition card, show that by two windows acceleration/accel and piezoelectric ceramic piece detect the vibration information of mode of flexural vibration at telltale respectively in real time, pass through man-machine interface, open control policy, controlling quantity outputs to switch valve driving magnification circuit plate through multi-functional D/A conversion and switching value output control card, drive plate drives pneumatic proportional valve and two-position three-way valve, and respectively high pressure gas be input to gas flow that two nozzles control nozzle at the pros and cons of equilibrium point by the control two-position three-way valve according to vibration and control thrust, thereby suppress the big amplitude vibration of flexible beam fast; Also can simultaneously controlling quantity be amplified rear drive mode of flexural vibration actuator through the output signal of D/A transition card through piezoelectric ceramics power supply, carry out the vibration control of mode of flexural vibration simultaneously; In this example, the Pneumatic pipe cleaner of air pump is crossed reducing valve in the pneumatic triple piece, and to adjust to maximum gas pressure be 0.5MPa, and the aperture of the nozzle of selecting for use is 1.2mm, calculates the maximum power that formula can calculate the jet actuator of this nozzle-type according to the pressure flow of gas and approximately can reach 40 watts; And drive the power supply voltage of ceramic power supply and driving power that electric current can calculate the piezoelectric actuator in this example is about 1.5 watts according to piezoelectricity.
(5) after unlatching applies control policy, show bending vibrattion control effect in real time by telltale, and records store data is analyzed;
(6) repeating step (4), (5), and according to the observation of vibrating effect and storage data analysis, the relevant parameters of adjusting control strategy is tested repeatedly, parameter adjustment is the control algorithm parameter described in the step (1), up to obtaining good control effect.
Obtain the first rank mode of flexural vibration according to the excitation recording method of step (2) excitation and do not control free damped response time course figure test results curve respectively as shown in Figure 4.Fig. 4 is the signal of acquisition and recording piezoelectric patches sensor 2 when encouraging the first rank mode of flexural vibration to vibrate according to step (5); Never the time history of controlling experimental record as can be known, free damping needs for a long time, the record 20s free damping time vibrate and also has certain amplitude, if vibration fully elimination need the above time of 35s.
Carry out the flexural vibration mode feedback according to of the present invention based on jet type driver, the test results that obtains Active Vibration Control as shown in Figure 5, in Fig. 5, it is to carry out after the time of record vibration 1s that jet type driver applies control, from experimental result as can be known, the vibration of big amplitude is suppressed to quite little amplitude apace in the time of 0.5s; And simple applying piezoelectric actuator is controlled at the time that needs the soonest under the same hardware condition about 3s.Verified the advance of proposition method, promptly the power of " point type " jet type driver is bigger, but at high speed suppresses the vibration of big amplitude.
The present invention is according to the switching control strategy and the method for above-mentioned flexibility structural vibration control, also can adopt the control method of combination, that is: when big amplitude vibration, adopt jet type driver, switch when small magnitude is arrived in vibration suppression and adopt piezoelectric actuator, overcome the little restriction of piezoelectric actuator power like this, realized the quick decay of big amplitude vibration, the quick consumption of energy; And utilize the piezoelectric patches actuator to carry out accuracy control, realize the control of residual oscillation.
The present invention obtain project of national nature science fund project " modeling and the Study on Active Vibration Control that have the large-scale flexible structure that flexible hinge and base float " (item number: 60404020), the empty day great study program project of aircraft " the intelligent independent control research of the hard and soft coupled structure complication system of spacecraft " of state natural sciences fund (item number: subsidy 90505014).
Claims (3)
1, based on the device of the inhibition flexibility structural vibration of jet type driver, this device is at the horizontal 20～25mm of flexible beam fixed end place, multi-disc piezoelectric ceramic piece along the symmetry stickup of two sides, the vertical front and back of flexible beam, piezoelectric ceramic piece is 20～100mm at the fore-and-aft distance of flexible beam each other, the attitude angle is 0 °, and the two-sided polarity of multi-disc piezoelectric ceramic piece is connected in parallel on the contrary and forms the mode of flexural vibration piezoelectric actuator together; The mode of flexural vibration sensor is a collection of piezoelectric ceramic piece, is attached to laterally close fixed end 50～125mm place of flexible beam, is positioned at the longitudinal midline of flexible beam, and the attitude angle is 0 °; Near the free end middle part acceleration pick-up is installed at flexible beam; The mode of flexural vibration sensor is connected with a low frequency charge amplifier respectively with acceleration pick-up, and the low frequency charge amplifier is connected with computing machine by multi-channel A/D translation data capture card, and telltale connects computing machine; The mode of flexural vibration piezoelectric actuator is connected with the Piezoelectric Driving high-voltage amplifier, and the Piezoelectric Driving high-voltage amplifier is connected with computing machine by multi-channel D/A transition card; It is characterized in that, two nozzles as jet type driver are installed respectively at the pros and cons of flexible beam lateral middle; On pneumatic circuit, two nozzles are connected with a two-position three-way valve by the air-blast atomizer joint respectively, and two-position three-way valve is connected with pneumatic proportional valve, and pneumatic proportional valve links to each other with pneumatic triple piece, and pneumatic triple piece links to each other with air pump; On circuit drives, two-position three-way valve also drives magnification circuit plate with switch valve respectively with pneumatic proportional valve and is connected, and switch valve drives magnification circuit plate and is connected with multi-channel D/A transition card.
2, the device of the inhibition flexibility structural vibration based on jet type driver according to claim 1 is characterized in that, described nozzle is a fluid column stream metallic nozzle, and the aperture is 0.79mm, 1.2mm, 1.5mm or 2.5mm.
3, application rights requires the method based on the inhibition flexibility structural vibration of jet type driver of 1 described device, it is characterized in that comprising the steps:
(1) open computing machine, parameter initialization comprises the setting of initial value setting, A/D data acquisition and the corresponding primary data of D/A output control card, control address and the type of drive of control algorithm parameter;
(2) open charge amplifier and Piezoelectric Driving high-voltage amplifier, the flexural vibration mode frequency that adopts the identification of disturbance force hammer exciting identification method to obtain;
(3) the oscillation frequency information of utilizing identification to obtain, the control policy of realization mode of flexural vibration mode; Control policy comprises: the signal of gathering is carried out classical moving average filter handle, the control sampling time is 1ms, adopts a plurality of sampled datas to carry out moving average, and adopts control algorithm to calculate; The flexural vibration mode frequency that identification obtains according to step (2) is input in the control policy by human-computer interaction interface, and relevant parameters is set for ACTIVE CONTROL;
(4) with of the vibration of disturbance force hammer according to the excitation method excitation flexible beam mode of flexural vibration of step (2), behind the information via charge amplifier of the crooked revolving die attitude that will gather by the piezoelectric transducer of mode of flexural vibration, gather vibration information by the A/D transition card, show that by two windows acceleration/accel and piezoelectric ceramic piece detect the vibration information of mode of flexural vibration at telltale respectively in real time, pass through man-machine interface, open control policy, controlling quantity outputs to switch valve driving magnification circuit plate through multi-functional D/A conversion and switching value output control card, drive plate drives pneumatic proportional valve and two-position three-way valve, the gas flow of control nozzle is controlled thrust, thereby suppresses flexible vibration of beam; Also can simultaneously controlling quantity be amplified rear drive mode of flexural vibration actuator through the output signal of D/A transition card through piezoelectric ceramics power supply, carry out the vibration control of mode of flexural vibration simultaneously;
(5) after unlatching applies control policy, show bending vibrattion control effect in real time by telltale, and records store data is analyzed;
(6) repeating step (4), (5), and according to the observation of vibrating effect and storage data analysis, the relevant parameters of adjusting control strategy is tested repeatedly, parameter adjustment is the control algorithm parameter described in the step (1), up to obtaining good control effect.
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| CN109515757A (en) * | 2018-10-18 | 2019-03-26 | 贵州航天林泉电机有限公司 | A kind of jet aircraft attitude-control device |
| CN112099543A (en) * | 2020-08-14 | 2020-12-18 | 华南理工大学 | Vibration control device and control method for moving two-dimensional multi-unfolding plate |
| CN112097890A (en) * | 2020-08-14 | 2020-12-18 | 华南理工大学 | Pneumatic artificial muscle driven multi-flexible articulated beam vibration detection control device and method |
| CN112097890B (en) * | 2020-08-14 | 2021-12-17 | 华南理工大学 | Pneumatic artificial muscle driven multi-flexible articulated beam vibration detection control device and method |
| CN113738881A (en) * | 2021-08-04 | 2021-12-03 | 北京控制工程研究所 | Multi-sensor fused piezoelectric cold air variable thrust closed-loop regulation and control device |
| CN113738881B (en) * | 2021-08-04 | 2023-06-30 | 北京控制工程研究所 | Multi-sensor fused piezoelectric cold air variable thrust closed-loop regulation and control device |
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