CN105843270A - Helicopter multi-frequency vibration active control method - Google Patents
Helicopter multi-frequency vibration active control method Download PDFInfo
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Abstract
The present invention discloses a helicopter multi-frequency vibration active control method. The method comprises the steps of 1, system identification: acquiring the control voltage of an actuator and the acceleration response of a to-be-controlled point, identifying a system based on the recursive least-squares algorithm, and finally obtaining the discrete state-space equation of a secondary channel; 2, the design of a feedback controller: designing a discrete predictive sliding-mode feedback controller by utilizing the discrete state-space equation of the secondary channel obtained in the step 1; 3, the acquisition of a reference signal and an error signal: extracting a rotor wing excitation frequency according to the rotor wing characteristics and the speed characteristics of a helicopter, synthesizing a reference signal and acquiring a vibration response error signal at the to-be-controlled point; 4, iteration of a feed-forward and feedback hybrid control algorithm: by utilizing the reference signal and the error signal obtained in the step 3, and conducting the iteration of a feed-forward controller and a feedback controller to obtain a feed-forward and feedback hybrid control voltage signal; 5, the output of a controlled quantity; 6, adopting the hybrid control voltage signal obtained in the step 4 as an input signal at the next moment, generating a desired response by a drive actuator and returning to the step 3.
Description
Technical field:
The invention discloses a kind of helicopter multifrequency Method of Active Vibration Control, belong to the technology of helicopter Vibration Active Control
Field.
Background technology:
Helicopter is when front flying, and asymmetric flow makes alternating force that rotor produces and moment be cause helicopter vibration main
Vibration source, the most only frequency are N Ω (N is paddle blade number, and Ω is rotor rotating speed) and the vibration component of multiple passes through
Rotor shaft passes to fuselage, makes airframe structure be in all the time in the most severe vibration environment.High level of vibration has a strong impact on to be driven
The person of sailing and the work efficiency of occupant and comfortableness, and reduce the fatigue life of structure and the reliability of plant equipment.Must adopt
Taking certain means to control the vibration high level of helicopter, this also becomes technology the most key in helicopter development process
One of problem.Active Control of Structural Response for Helicopters technology due to its strong adaptability, control effective, energy consumption is low, without suitable
The advantages such as boat sex chromosome mosaicism, it has also become the effective ways of helicopter Vibration Active Control and important development direction.The base of this technology
Present principles is to shake to control to shake, and i.e. installs actuator on the not a node position of helicopter body primary modal, based on sensor
Feedback signal, regulated in real time by controller according to active Control Law, the active controlling force making actuator produce exists
The vibratory response that key position (at seat) produces, and phase place equal with disturbing outward body vibration amplitude that exciting force causes
On the contrary, thus realize vibration cancellation.Existing Active Control of Structural Response for Helicopters technology only can pass through frequency vibration to main
Component control effectively, and remaining high-order harmonic wave composition is the most very important.On the one hand this be owing to hardware realizes the most multiple
Miscellaneous, it is on the other hand then owing to being limited to by existing Algorithm of Active Control control mechanism, causes helicopter multifrequency vibration control
Realization the most difficult.
Typical Active Control of Structural Response for Helicopters algorithm can be divided into based on filtering-x least mean square algorithm (Filtered-x
Least Mean Square, Fx-LMS) the feedforward and based on high-order harmonic wave control algolithm (Higher Harmonic
Control, HHC) feedback control.Fx-LMS is that a kind of arrowband controls respond well adaptive feedforward controller,
And without accurate system model, but its process noise, uncertain outer disturb with structure time-varying system limited in one's ability.If
Multifrequency vibration control to be applied to, can construct the parallel-connection structure Fx-LMS algorithm that number of filter is equal with vibrational line number.
But this parallel-connection structure still suffers from above-mentioned Similar Problems, and is come more by the single error signal containing multiple frequency contents
The weight coefficient of new all control wave filter, this can modulate multiple incoherent vibration component in turn in error signal,
Causing convergence process to slow down, adaptive ability reduces, in some instances it may even be possible to cause control invalid.And existing structure response actively control
The HHC algorithm that system processed is commonly used, based on linear pseudo static assumption, is a kind of method that can effectively reduce multifrequency steady-state vibration,
But it is relatively big that this also determines its control interval, renewal rate is relatively slow, be only applicable to frequency relatively low, outward disturb comparison steadily and
The situation that structural parameters change is little.
Summary of the invention:
The present invention provides a kind of helicopter multifrequency Method of Active Vibration Control, its object is to solve helicopter many frequency vibrations control
Problem processed, it is provided that the feed-forward and feedback of a kind of combination Fx-LMS feedforward controller and discrete prediction sliding formwork feedback controller is mixed
Close control algolithm.Wherein, discrete sliding mode controls have stronger robustness, and PREDICTIVE CONTROL can make system mode with very
High precision is close to complex vibration signal.This algorithm leads to feedforward controller to accounting for the master of helicopter vibration major part by frequency
Rate composition effectively suppresses, and offsets harmonic component by feedback controller and other stronger outer are disturbed, thus reach multifrequency
Vibration control target, and there is the features such as amount of calculation little, fast convergence rate, good stability, strong robustness.
The present invention adopts the following technical scheme that a kind of helicopter multifrequency Method of Active Vibration Control, comprises the steps:
Step 1, system identification
Gather actuator and control acceleration responsive at voltage and controlled point, use RLS to carry out system and distinguish
Know, final acquisition secondary channel separate manufacturing firms equation；
Step 2, Design of Feedback Controller
The secondary channel separate manufacturing firms equation utilizing step 1 to obtain carries out discrete prediction sliding formwork Design of Feedback Controller；
Step 3, reference signal and error signal obtain
According to lifting airscrew feature and rotating speed feature, extract rotor driving frequency, synthesized reference signal, and gather controlled
Vibratory response error signal at Dian；
Step 4, feed-forward and feedback hybrid algo-rithm iteration
Utilize reference signal and error signal that step 3 obtains, carry out feedforward controller and feedback controller iteration, obtain
Feed-forward and feedback mixing controls voltage signal；
Step 5, controlled quentity controlled variable exports
The mixing obtained in step 4 is controlled voltage as subsequent time input signal, the sound needed for drive ram generation
Should, return step 3.
Further, in described step 1, if the sampling period is T, gathers actuator and control to accelerate at voltage and controlled point
Degree response, uses RLS to carry out system identification, the final secondary channel separate manufacturing firms equation that obtains:
X (k+1)=GdX(k)+Hdu(k)+fd(k) (1)
Wherein: k is time step；X(k)∈RnFor secondary channel state vector, it comprises acceleration responsive at controlled point；Gd
And HdIt is respectively the state matrix of corresponding dimension and controls matrix；U (k) ∈ R is that actuator controls voltage；Time-varying is outside dry
Disturb fd(k)∈Rn, and assume its bounded.
Further, in described step 2, first design Discrete Sliding Mode Controller based on equivalent control, introduce state by mistake
Difference vector E (k)=X (k)-Xd(k), wherein XdK () is desired signal, comprise multifrequency dynamic d (k)+d to be damped0The information of (k),
Designing corresponding switching function is s (k)=CE (k), wherein C=[c1 … cn-11], parameter c1, c2..., cn-1Should make
pn-1+cn-1pn-2+…+c2p+c1For Hurwitz multinomial, p is Laplace operator, according to equivalent control principle, orderObtaining final sliding mode controller is
ueq(k)=-(CHd)-1[-s(k)+CGdE(k)+Cδ(k-1)] (2)
In formula (2), δ (k-1)=E (k)-GdE(k-1)+HdU (k-1),
Further, based on designed switching function, it is predicted sliding mode controller design, takes rolling time horizon length
During L=1, design single-step predictive control object function | | the s (k+1) | | that is J=2+λ||uΔ(k)||2, and then use optimal control policy to obtain
To additional controlled quentity controlled variable uΔ(k) be:
uΔ(k)=-[(CHd)TCHd+λ]-1(CHd)T[s(k)+C(δ(k-1)-δ(k-2))] (3)
Convolution (2) and (3), can obtain discrete prediction sliding formwork feedback control amount finally is:
U (k)=-(CHd)-1[-s(k)+CGdE(k)+Cδ(k-1)]-[(CHd)TCHd+λ]-1(CHd)T[s(k)+C(δ(k-1)-δ(k-2))] (4)。
Further, according to lifting airscrew feature and rotating speed feature in described step 3, extract rotor driving frequency, close
Become reference signal x (k), and gather acceleration responsive error signal e (k) at controlled point, needed for obtaining control algolithm
Input quantity.
Further, described step 4, feed-forward and feedback hybrid algo-rithm iteration, utilize the reference signal that step 3 obtains
X (k) and error signal e (k), bring formula (5) into and be controlled algorithm iteration, obtains feed-forward and feedback mixing and controls voltage,
Driving signal as actuator
Wherein, yfK () is the output signal of Self Adaptive Control wave filter W (z)；W (k)=[w (0) w (1) ... w (I-1)]TFor
The weight coefficient vector of k moment W (z), a length of I；X (k)=[x (k) x (k-1) ... x (k-I+1)]TIt it is reference signal vector；
ybK () is the output of feedback controller equivalent transfer function B (z), be the u (k) in formula (4)；ycK () is input secondary
The mixing controlled quentity controlled variable of channel transfer function H (z)；D (k) is multifrequency desired signal, is to need control mainly to shake at controlled point
Dynamic composition；d0K () is to be difficult to model or disturb signal outside undetectable multifrequency；H (k)=[h (0) h (1) ... h (J-1)]TFor k
The impulse response vector in moment secondary channel transfer function H (z), a length of J；
yc(k)=[yc(k) yc(k-1) … yc(k-J+1)]TIt it is mixing control signal vector；
For secondary channel wave filterImpulse response vector, andIt it is the estimation model of H (z)；
X ' (k)=[x ' (k) x ' (k-1) ... x ' (k-I+1)]TFor being reference signal x (k) by secondary channel wave filterAfter obtain
Filtering-x signal；μ is the Fx-LMS algorithmic statement factor.
There is advantages that
(1) compared with Fx-LMS feed forward control method, the introducing of feedback controller in feed-forward and feedback hybrid algo-rithm
Increase secondary channel damping, reduce secondary channel wave filter and the exponent number requirement controlling wave filter, reduce calculating
Amount, accelerates convergence rate.Compared with parallel-connection structure algorithm, feed-forward and feedback hybrid algo-rithm avoids reference signal
With the frequency modulation(PFM) problem of error signal, further speed up convergence rate, improve control effect.
(2) discrete prediction prediction sliding-mode control is utilized to achieve the many order harmonicses of helicopter body under rotor is encouraged
Vibration control, and the method to helicopter vibration environment change there is good auto-adaptive controling ability.
Accompanying drawing illustrates:
Fig. 1 is the present invention discrete prediction sliding-mode control block diagram for helicopter multifrequency vibration control.
Fig. 2 is the present invention discrete prediction sliding formwork feedback controller block diagram.
Fig. 3 (a) is the helicopter FEM (finite element) model used during the present invention emulates.
Fig. 3 (b) is C=in embodiment of the present invention [1 1], λ=0.00011, μ=1 × 10-6Time helicopter finite element double
Frequency vibration controls error signal time-domain diagram.
Fig. 3 (c) is C=in embodiment of the present invention [1 1], λ=0.00011, μ=1 × 10-6Time helicopter finite element double frequency
Vibration control error signal frequency domain figure.
Fig. 4 (a) is C=in embodiment of the present invention [100 1], λ=20, model copter actual measurement double frequency during μ=0.25
Vibration control error signal time-domain diagram.
Fig. 4 (b) is C=in embodiment of the present invention [100 1], λ=20, model copter actual measurement double frequency during μ=0.25
Vibration control error signal frequency domain figure.
Detailed description of the invention:
The technological thought of the present invention is: for helicopter multifrequency vibration active control system, first carries out system identification, and
Predict sliding formwork feedback controller according to identification result discrete, then use the reference signal of acquisition and error signal to carry out
Feed-forward and feedback mixture control iteration and controlled quentity controlled variable output, it is achieved effective control of frequency vibrations many to helicopter.The present invention
Helicopter multifrequency Method of Active Vibration Control, is achieved by the steps of:
Step 1, system identification
Gather actuator and control acceleration responsive at voltage and controlled point, use RLS to carry out system and distinguish
Know, final acquisition secondary channel separate manufacturing firms equation；
Step 2, Design of Feedback Controller
The secondary channel separate manufacturing firms equation utilizing step 1 to obtain carries out discrete prediction sliding formwork Design of Feedback Controller；
Step 3, reference signal and error signal obtain
According to lifting airscrew feature and rotating speed feature, extract rotor driving frequency, synthesized reference signal, and gather controlled
Vibratory response error signal at Dian；
Step 4, feed-forward and feedback hybrid algo-rithm iteration
Utilize reference signal and error signal that step 3 obtains, carry out feedforward controller and feedback controller iteration, obtain
Feed-forward and feedback mixing controls voltage signal；
Step 5, controlled quentity controlled variable exports
The mixing obtained in step 4 is controlled voltage as subsequent time input signal, the sound needed for drive ram generation
Should, return step 3.
Wherein step 1, system identification.If the sampling period is T, gathers actuator and control acceleration at voltage and controlled point
Response, uses RLS to carry out system identification, the final secondary channel separate manufacturing firms equation that obtains:
X (k+1)=GdX(k)+Hdu(k)+fd(k) (1)
Wherein: k is time step；X(k)∈RnFor secondary channel state vector, it comprises acceleration responsive at controlled point,
The information of secondary channel output y (k) in i.e. Fig. 1；GdAnd HdIt is respectively the state matrix of corresponding dimension and controls matrix；
U (k) ∈ R is that actuator controls voltage；Time-varying external disturbance fd(k)∈Rn, and assume its bounded.
Wherein step 2, Design of Feedback Controller.The secondary channel separate manufacturing firms equation utilizing step 1 to obtain is carried out
Discrete prediction sliding formwork Design of Feedback Controller.
First Discrete Sliding Mode Controller based on equivalent control is designed.Introduce state error vector E (k)=X (k)-Xd(k),
Wherein XdK () is desired signal, comprise dynamic d (the k)+d to be damped of multifrequency in Fig. 10The information of (k).Design switches letter accordingly
Number is s (k)=CE (k), wherein C=[c1 … cn-11], parameter c1, c2..., cn-1P should be maden-1+cn-1pn-2+…+c2p+c1
For Hurwitz multinomial, p is Laplace operator.According to equivalent control principle, order
Obtaining final sliding mode controller is
ueq(k)=-(CHd)-1[-s(k)+CGdE(k)+Cδ(k-1)] (2)
In formula (2), δ (k-1)=E (k)-GdE(k-1)+Hdu(k-1)。
Further, based on designed switching function, it is predicted sliding mode controller design.Such as, when taking rolling
During time domain length L=1, can design single-step predictive control object function is J=| | s (k+1) | |2+λ||uΔ(k)||2, and then use optimum
Control strategy obtains additional controlled quentity controlled variable uΔ(k) be:
uΔ(k)=-[(CHd)TCHd+λ]-1(CHd)T[s(k)+C(δ(k-1)-δ(k-2))] (3)
Convolution (2) and (3), can obtain discrete prediction sliding formwork feedback control amount finally is:
U (k)=-(CHd)-1[-s(k)+CGdE(k)+Cδ(k-1)]-[(CHd)TCHd+λ]-1(CHd)T[s(k)+C(δ(k-1)-δ(k-2))] (4)
Wherein step 3, reference signal and error signal obtain.According to lifting airscrew feature and rotating speed feature, extract rotation
Wing driving frequency, synthesized reference signal x (k), and gather acceleration responsive error signal e (k) at controlled point, to obtain
Input quantity needed for control algolithm.
Wherein step 4, feed-forward and feedback hybrid algo-rithm iteration.According to the mixing control block diagram shown in Fig. 1, utilize step
Rapid 3 reference signals x (k) obtained and error signal e (k), bring formula (5) into and be controlled algorithm iteration, feedovered-
Feedback mixing controls voltage, as the driving signal of actuator.Wherein, the P (z) in Fig. 1 is primary channel, represents rotation
Wing exciting force is to the transmission function at error pick-up.And H (z) is secondary channel, represent comprise controller D/A output,
Drive dynamic system between power supply, actuator, actuator to error pick-up, error pick-up, wave filter and
The transmission function of the links such as A/D sampling.
Wherein, yfK () is the output signal of Self Adaptive Control wave filter W (z)；W (k)=[w (0) w (1) ... w (I-1)]TFor
The weight coefficient vector of k moment W (z), a length of I；X (k)=[x (k) x (k-1) ... x (k-I+1)]TIt it is reference signal vector；
ybK () is the output of feedback controller equivalent transfer function B (z), be the u (k) in formula (4)；ycK () is input secondary
The mixing controlled quentity controlled variable of channel transfer function H (z)；D (k) is multifrequency desired signal, is to need control mainly to shake at controlled point
Dynamic composition；d0K () is to be difficult to model or disturb signal outside undetectable multifrequency；H (k)=[h (0) h (1) ... h (J-1)]TFor k
The impulse response vector in moment secondary channel transfer function H (z), a length of J；
yc(k)=[yc(k) yc(k-1) … yc(k-J+1)]TIt it is mixing control signal vector；
For secondary channel wave filterImpulse response vector, andIt it is the estimation model of H (z)；
X ' (k)=[x ' (k) x ' (k-1) ... x ' (k-I+1)]TFor being reference signal x (k) by secondary channel wave filterAfter obtain
Filtering-x signal；μ is the Fx-LMS algorithmic statement factor.
By the parameter vector C, the penalty factor λ in object function in regulation sliding-mode surface and the receipts in feedforward controller
Hold back factor mu, make algorithm performance meet design requirement, reach helicopter multifrequency Active Vibration Control target.
Wherein step 5, controlled quentity controlled variable exports.The mixing that obtains in step 4 is controlled voltage as subsequent time input signal,
Response needed for drive ram generation, returns step 3.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as the present invention's
Protection domain.
Claims (5)
1. a helicopter multifrequency Method of Active Vibration Control, it is characterised in that: comprise the steps
Step 1, system identification
Gather actuator and control acceleration responsive at voltage and controlled point, use RLS to carry out system and distinguish
Know, final acquisition secondary channel separate manufacturing firms equation；
Step 2, Design of Feedback Controller
The secondary channel separate manufacturing firms equation utilizing step 1 to obtain carries out discrete prediction sliding formwork Design of Feedback Controller；
Step 3, reference signal and error signal obtain
According to lifting airscrew feature and rotating speed feature, extract rotor driving frequency, synthesized reference signal, and gather controlled
Vibratory response error signal at Dian；
Step 4, feed-forward and feedback hybrid algo-rithm iteration
Utilize reference signal and error signal that step 3 obtains, carry out feedforward controller and feedback controller iteration, obtain
Feed-forward and feedback mixing controls voltage signal；
Step 5, controlled quentity controlled variable exports
The mixing obtained in step 4 is controlled voltage as subsequent time input signal, the sound needed for drive ram generation
Should, return step 3.
2. helicopter multifrequency Method of Active Vibration Control as claimed in claim 1, it is characterised in that:
In described step 1, if the sampling period is T, gathers actuator and control acceleration responsive at voltage and controlled point, adopt
System identification is carried out, the final secondary channel separate manufacturing firms equation that obtains with RLS:
X (k+1)=GdX(k)+Hdu(k)+fd(k) (1)
Wherein: k is time step；X(k)∈RnFor secondary channel state vector, it comprises acceleration responsive at controlled point；Gd
And HdIt is respectively the state matrix of corresponding dimension and controls matrix；U (k) ∈ R is that actuator controls voltage；Time-varying is outside dry
Disturb fd(k)∈Rn, and assume its bounded.
3. helicopter multifrequency Method of Active Vibration Control as claimed in claim 2, it is characterised in that:
In described step 2, first design Discrete Sliding Mode Controller based on equivalent control, introduce state error vector
E (k)=X (k)-Xd(k), wherein XdK () is desired signal, comprise multifrequency dynamic d (k)+d to be damped0The information of (k), design
Corresponding switching function is s (k)=CE (k), wherein C=[c1 … cn-11], parameter c1, c2..., cn-1Should make
pn-1+cn-1pn-2+…+c2p+c1For Hurwitz multinomial, p is Laplace operator, according to equivalent control principle, orderObtaining final sliding mode controller is
ueq(k)=-(CHd)-1[-s(k)+CGdE(k)+Cδ(k-1)] (2)
In formula (2), δ (k-1)=E (k)-GdE(k-1)+HdU (k-1),
Further, based on designed switching function, it is predicted sliding mode controller design, takes rolling time horizon length
During L=1, design single-step predictive control object function | | the s (k+1) | | that is J=2+λ||uΔ(k)||2, and then use optimal control policy to obtain
To additional controlled quentity controlled variable uΔ(k) be:
uΔ(k)=-[(CHd)TCHd+λ]-1(CHd)T[s(k)+C(δ(k-1)-δ(k-2))] (3)
Convolution (2) and (3), can obtain discrete prediction sliding formwork feedback control amount finally is:
U (k)=-(CHd)-1[-s(k)+CGdE(k)+Cδ(k-1)]-[(CHd)TCHd+λ]-1(CHd)T[s(k)+C(δ(k-1)-δ(k-2))] (4)。
4. helicopter multifrequency Method of Active Vibration Control as claimed in claim 3, it is characterised in that:
According to lifting airscrew feature and rotating speed feature in described step 3, extract rotor driving frequency, synthesized reference signal
X (k), and gather acceleration responsive error signal e (k) at controlled point, to obtain the input quantity needed for control algolithm.
5. helicopter multifrequency Method of Active Vibration Control as claimed in claim 4, it is characterised in that:
Described step 4, feed-forward and feedback hybrid algo-rithm iteration, utilize reference signal x (k) and error that step 3 obtains
Signal e (k), brings formula (5) into and is controlled algorithm iteration, obtains feed-forward and feedback mixing and controls voltage, as actuator
Driving signal
Wherein, yfK () is the output signal of Self Adaptive Control wave filter W (z)；W (k)=[w (0) w (1) ... w (I-1)]TFor
The weight coefficient vector of k moment W (z), a length of I；X (k)=[x (k) x (k-1) ... x (k-I+1)]TIt it is reference signal vector；
ybK () is the output of feedback controller equivalent transfer function B (z), be the u (k) in formula (4)；ycK () is input secondary
The mixing controlled quentity controlled variable of channel transfer function H (z)；D (k) is multifrequency desired signal, is to need control mainly to shake at controlled point
Dynamic composition；d0K () is to be difficult to model or disturb signal outside undetectable multifrequency；H (k)=[h (0) h (1) ... h (J-1)]TFor k
The impulse response vector in moment secondary channel transfer function H (z), a length of J；
yc(k)=[yc(k) yc(k-1) … yc(k-J+1)]TIt it is mixing control signal vector；
For secondary channel wave filterImpulse response vector, andIt it is the estimation model of H (z)；For being reference signal x (k) by secondary channel wave filterAfter obtain
Filtering-x signal；μ is the Fx-LMS algorithmic statement factor.
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