CN107479376A - Based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression method - Google Patents
Based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression method Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The present invention is belonged to wind-tunnel technique field, is related to a kind of based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression method based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression method.This method carries out switching at runtime under certain conditions using fuzzy control and PD control algorithm, and using fuzzy control, to energy, quickly increased situation is controlled, using PD control to carrying out continuing to control by the situation under energy hole to certain level.Obtain representing the signal of vibration by the use of acceleration transducer as feedback signal, calculated by controller, amplified by power amplifier, realized the control to piezoelectric actuator and then realize that wind tunnel model vibrates active suppression.This method has fuzzy control concurrently quickly and the advantages of PD control is accurate, compensate for conventional test method due to control it is not quick enough, stablize the problem of not accurate enough, it is highly reliable, robustness is good, the application in the actual measurement of suitable wind tunnel experiment.
Description
Technical field
The invention belongs to wind-tunnel technique field, and in particular to one kind is based on fuzzy and proportion-plus-derivative control switching at runtime
Wind-tunnel pole vibration suppression method.
Background technology
Wind tunnel test is according to motion composition principle, and the model of aircraft or material object are fixed on into ground artificial environment
In, the artificial air-flow that manufactures flows through, and simulates aerial various complicated state of flights with this, obtains experimental data, in design aircraft
During, it is necessary to carry out wind tunnel test.
, it is necessary to be supported to aircraft during wind tunnel test.Tail support mode typically is used, its stream field
Influence minimum.Tail support system is connected to form by tulwar, pole, force balance and model etc., is a typical cantilevered
Structure.The strut lengths of tail support are usually three to five times of model length, and the geometry makes system stiffness relatively low.And wind
When hole is tested, model is encouraged by wide band aerodynamic loading, and the response of model-branch lever system is mainly shown as intrinsic in single order
Low frequency caused by frequency, significantly vibrate, i.e., ought have gas load appear in wind-tunnel pole model system single order it is intrinsic
When near frequency, couple and easily occur, it will cause the low frequency of model significantly to vibrate.This kind of low frequency Large Amplitude Vibration can cause to survey
Power balance cisco unity malfunction, the accuracy for the aerodynamic data that wind tunnel experiment obtains reduces, even to wind tunnel model-day when serious
Flat-strut support system causes to damage, and influences the safety of wind tunnel operation.Because Flow Field in Wind Tunnel environment is complicated, and wind tunnel test mould
Type form, pose are different, and strut-type wind tunnel model Active Vibration Control difficulty is larger.Vibration signal is surveyed by sensor
Amount, controller handle to obtain piezoelectric ceramic actuator activation signal, finally via the effect of the piezoelectric actuator embedded in pole
Realize the active control of strut-type wind tunnel model vibration.
H.Fehren et al. exists《ETW-High Quality test performance in Cryogenic
Environment》[J].AIAA paper,2000,2206:Formally Active vibration suppression device is tried applied to wind-tunnel in 2000
Test, and introduce the higher carbon fiber construction of security.Since 2007, ETW exists《Tools and techniques for
high Reynolds number testing status and Recent improvements at ETW》[J].AIAA-
Paper,2003,755:Three generations's Active vibration suppression technology is have developed in 2003.Domestic researcher is to the Study on Problems
Start late, but also achieve certain achievement in research, and constantly strided forward to the leading level in the world.2005, Ha Er
Shore engineering university poplar grace rosy clouds et al. exist《The design of big angle of attack bracing cable-shoe combined support equipment》[J] mechanical engineers, 2005
(7):In 113-114, bracing cable-shoe combined support equipment is devised, the equipment has the advantages that good rigidity, intrinsic frequency are high,
But the profile of model in wind tunnel can be made to produce the change for not utilizing experimental data to measure.2013, Chinese aerodynamic investigation
Exist with the design of centre of development equipment and Testing Technology Study institute Li Zhuan sound et al.《Wind tunnel model vibration active control system development》
In the 6th four seminars of observation and control technology special commission of air force association of [A] China, devise and controlled in real time based on FPGA
The active control system of device processed, attempted respectively include PID control parameter (hereinafter referred to as PID control), fuzzy control,
Three kinds of control algolithms of neutral net generalized predictive control.
Above in terms of control vibration on achieve effect, but situation complicates more in wind-tunnel, and traditional PID control needs
Off-line testing PID is wanted, it is difficult to which continuous during wind-tunnel again use for a long time, and other intelligent control algorithms have sound
The problems such as speed is slow, control is unstable is answered, and pole vibrational energy is often accelerated accumulation in wind-tunnel, if can not consume in time
Dissipate, beyond the fan-out capability of actuator, unstability, Vibration Active Control failure will occur for system, endanger wind-tunnel safety.
The content of the invention
The invention solves technical barrier be to make up existing technological deficiency, according to each in PID control vibration suppression method
Partial basic role, it is not necessary to add integration control item, be reduced to proportion-plus-derivative control (hereinafter referred to as PD control), invention one
Kind is combined PD control technology with fuzzy control based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression method
Get up, applied to strut-type wind tunnel model Active Vibration Control.PD control can accurately control in the case of microvariations, obtain
Preferable control effect, but can not be according to different operating mode on-line control PD parameters.Fuzzy control has relatively good adaptability
And response speed, it is capable of the complexity that simplified control system designs, especially suitable for non-linear, hysteresis quality and time variation etc.
The system of characteristic, but during exclusive use, easily dissipated at the end of control, control is failed.Using this vibration suppression method, by two kinds
Control method combines, and has the advantages of fuzzy control is quick and PD control is accurate concurrently, can effectively solve the problem that quick in wind tunnel test
Effective vibration suppression problem.Because the system has the characteristics of high reliability, robustness, solve quickly has in existing wind tunnel experiment
The problem of vibration suppression is imitated, the application being adapted in wind tunnel experiment environment.
The technical solution adopted in the present invention is based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression side
Method, it is characterized in that, this method carries out switching at runtime, selection control under certain conditions using fuzzy control and PD control algorithm
Algorithm；Using fuzzy control, to energy, quickly increased situation is controlled, using PD control to by energy hole to one
Situation under fixed level carries out continuing to control.Obtain representing the signal of vibration by the use of acceleration transducer as feedback signal, lead to
Controller calculating is crossed, is amplified by power amplifier, the control to piezoelectric actuator is realized and then realizes wind tunnel model vibration master
It is dynamic to suppress；Method comprises the following steps that：
Step 1 builds the wind-tunnel pole vibration suppression system based on fuzzy-PD control switching at runtime
Acceleration transducer 1 is arranged on dummy vehicle 8 on request, piezoelectric actuator 10 is arranged on the tail of pole 9
End；Connect pole 9 and dummy vehicle 8；Pole 9 is fixedly connected with angle of attack adjusting apparatus 11；Data collecting card 5 is arranged on
On the mainboard of computer 4；Connect acceleration transducer 1 and data collecting card 5；Computer 4, controller 6, power are sequentially connected respectively
Amplifier 7 and piezoelectric actuator 10；Vibrator 3 is placed on the lower section of dummy vehicle 8, and by signal generator 2 and vibrator 3
Connection；
Step 2 determines acceleration signal peak value sequence
The vibration acceleration signal collected is discrete signal a (1), a by certain sampling period after handling after filtering
(2), a (3) ..., a (n-1), a (n)；And it is to have some cycles, it is necessary to know to discrete acceleration degree series to vibrate
Not；Obtain the acceleration signal peak value sequence a of vibration periodm(1), am(2), am..., a (3)m(k-1), am(k)。
Step 3 determines fuzzy-PD control switching at runtime standard
The change of acceleration peak value sequence energy reaction system energy；When the margin of error is larger, fuzzy controller interventional systems,
Coarse adjustment is carried out, makes system fast approaching equilbrium position, while prevents active vibration suppression device from overloading；When the margin of error is smaller, PID control
Device interventional systems, are finely adjusted, and overcome equalization point blind zone problem nearby, improve control accuracy；
Judge factors A using formula (1) computational algorithm
Wherein, k is with reference to evaluation number, am(n-k), am(n-k+1) ..., am(n-1) be respectively before n-th of peak value k walk
Peak value sequence.
Judged using formula (2)
Wherein, AmFor the critical judgement factor of setting；
Step 4 is according to formula (2), as A≤AmUsing FUZZY ALGORITHMS FOR CONTROL.
Using acceleration signal a (n) as feedback signal, reference quantity r (n) ≡ 0, formula (3) calculates deviation
en=a (n)-r (n)=a (n) (3)
First, fuzzification process is carried out：Wind-tunnel pole vibrated physical quantity by acceleration transducer, and (pole tail end shakes
Dynamic input measurement values of the acceleration bias e) as computer, then the precise volume of this input measurement value is converted into membership function
The fuzzy set of expression；
The actual range of the input deviation of fuzzy controller and the actual change scope of output variable are called this tittle
Basic domain.Deviation e basic domain (precise volume) is [- Xe, Xe], the quantization domain (fuzzy quantity) of deviation is：
X={-n ,-n+1 ..., n-1, n } (4)
Wherein, positive integer n is by [0, Xe] in the range of consecutive variations deviation discretization after the series that is divided into；
Define the quantizing factor K of deviatione
Ke=n/Xe (5)
Quantizing factor KeAfter selected, any deviation e of systemiCan always there is formula (6) to be quantified as a certain element on domain；
Wherein, t is the positive integer less than n；
Secondly, fuzzy logic inference is carried out：The one group of fuzzy condition statement rule of thumb made is formed fuzzy
Control rule, and fuzzy logic inference, control output are carried out by formula (7) according to the rule；
U=f (X) (7)
Wherein, f () is to export the mapping function that fuzzy quantity U correspondingly inputs fuzzy quantity X；
Finally, fuzzy output amount and anti fuzzy method：Exporting fuzzy set is
U={ U (- n), U (- n+1) ..., U (0) ..., U (n-1), U (n) } (8)
Using maximum person in servitude's degree method, the maximum factor of degree of membership is calculated as controlled quentity controlled variable um, i.e.,：
um=max (u (- n), u (- n+1) ..., u (0) ..., u (n-1), u (n)) (9)
The reality output of computing controller
Wherein, UmIt is to export the maximum in fuzzy set U, u is reality output amount；
Step 5 is according to formula (2), as A >=AmUsing PD control algorithm.
Using PD control algorithm, controlled quentity controlled variable is calculated using formula (11)
U (k)=kpen+kd(en-en-1) (11)
Wherein, kpFor proportional feedback factor and kdFor Derivative Feedback coefficient.
The useful achievement of the present invention is under wind-tunnel environment, using the wind-tunnel pole based on fuzzy-PD control switching at runtime
Vibration suppression method, PD control technology is combined with fuzzy control, applied to strut-type wind tunnel model Active Vibration Control, realized
Active suppression is vibrated to wind tunnel model.The advantages of fuzzy control is quick and PD control is accurate is had concurrently using this kind of method, compensate for
Conventional test method due to control it is not quick enough, stablize the problem of not accurate enough, it is highly reliable, robustness is good, be adapted to wind-tunnel real
Application in the actual measurement tested.
Brief description of the drawings
Fig. 1 is the wind-tunnel pole vibration suppression system test schematic diagram based on fuzzy-PD control switching at runtime.Wherein, 1- accelerates
Spend sensor, 2- signal generators, 3- vibrators, 4- computers, 5- data collecting cards, 6- controllers, 7- power amplifiers, 8-
Dummy vehicle, 9- wind-tunnel poles, 10- piezoelectric actuators, 11- angle of attack adjusting apparatus.
Fig. 2 is the wind-tunnel pole vibration suppression method flow diagram based on fuzzy-PD control switching at runtime.
Embodiment
Describe the embodiment of the present invention in detail below in conjunction with technical scheme and accompanying drawing.
The present invention uses the vibration signal of Lanace ULT 2008/V type acceleration transducer measuring systems, range 10g, spirit
Sensitivity is 500mv/g；The ds1103 type controllers produced using dSPACE companies realize platform as the control algolithm；Using
The PZD700A binary channels power amplifier of TREK companies production and core company's tomorrow model 20VS12 piezoelectric ceramic actuator
Opposite force is exported to suppress to vibrate with torque；The flow chart of whole system is as shown in Fig. 2 following is based on fuzzy-PD switching at runtime
Wind-tunnel pole vibration suppression method idiographic flow：
Step 1 builds the wind-tunnel pole vibration suppression system based on fuzzy-PD control switching at runtime
As shown in figure 1, acceleration transducer 1 is arranged on dummy vehicle 8 on request, piezoelectric actuator 10 is arranged on
The tail end of pole 9；Connect pole 9 and dummy vehicle 8；Pole 9 is fixedly connected with angle of attack adjusting apparatus 11；By data acquisition
Card 5 is arranged on the mainboard of computer 4；Connect acceleration transducer 1 and data collecting card 5；Computer 4, control are sequentially connected respectively
Device 6, power amplifier 7 and piezoelectric actuator 10 processed；Vibrator 3 is placed on the lower section of dummy vehicle 8, and by signal generator
2 are connected with vibrator 3；
Step 2 determines acceleration signal peak value sequence
For the signal sequence of certain moment a (n)=0.7304, the vibration acceleration signal collected is handled after filtering
Afterwards, it is identified, obtains the cycle peak as 0.9346；Obtain the peak value sequence a in first three cycle of moment acceleration signalm
(k)=0.8593, am(k-1)=0.8156, am(k-2)=0.7617.
Step 3 determines fuzzy-PI D switching at runtime standards
Judge factors A=0.8690 using formula (1) computational algorithm.
Step 4 uses FUZZY ALGORITHMS FOR CONTROL
Judged using formula (2), critical judgement factors A is setm=0.9, A≤Am, therefore use FUZZY ALGORITHMS FOR CONTROL.
Using acceleration signal a (n) as feedback signal, reference quantity r (n) ≡ 0, formula (3) calculate deviation, obtain e (n)=
0.7304。
First, fuzzification process is carried out：
Deviation e basic domain (precise volume) is [- 1,1], and the quantization domain (fuzzy quantity) that deviation is obtained by formula (4) is：X=
{ -2, -1,0,1,2 }, i.e., divided input measurement value, natural language description it is negative big, and it is negative small, zero, it is just small, honest,
Symbolically is { NB, NS, ZO, PS, PB }；
The quantizing factor K of deviation is calculated using formula (5)e=2.
The value that moment system deviation e (n)=0.7304 is quantified as on domain, X=2 are calculated using formula (6).
Secondly, fuzzy logic inference is carried out：By formula (7), for the fuzzy domain U={ -2, -1,0,1,2 } of output, now
The tender controller maximum output fuzzy quantity U=2 of output safety scope.
Finally, fuzzy output amount and anti fuzzy method：Using formula (8) (9) (10), U is obtainedm=2, um=800V, control is calculated
The reality output u=800V of device processed.
Step 5 uses PD control algorithm
Another situation, for certain moment a (n)=0.4101, it is 0.5418 that identification, which obtains the cycle peak, and the moment adds
The peak value sequence a in first three cycle of rate signalm(k)=0.5397, am(k-1)=0.5249, am(k-2) when=0.5148, make
Judged with formula (2), critical judgement factors A is setm=0.9, judge factors A=0.9747, A using formula (1) computational algorithm
≥Am, now using PD control algorithm.
Take kp=400, kd=0.2, output u (k)=164.0192V of the moment controller is calculated using formula (11)
The present invention is provided using the wind-tunnel pole vibration suppression technology based on fuzzy-PD control switching at runtime using fuzzy control
Relatively good adaptability and response speed, preferable precise control, the two comprehensive advantage are provided using PD control, and used dynamic
The mode of state switching, selects control algolithm, finally realizes the control of the vibration of wind tunnel model system.The system use based on mould
The wind-tunnel pole vibration suppression technology use environment of paste-PD switching at runtime is wide, adaptable, solves fast in existing wind tunnel experiment
The problem of fast effectively vibration suppression, the application being adapted in the actual measurement of wind tunnel experiment.The highly reliable of this method, robustness are good.
Claims (1)
1. it is a kind of based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression method, it is characterized in that, this method is adopted
Switching at runtime is carried out under certain conditions with fuzzy control and PD control algorithm, it is quickly increased to energy using fuzzy control
Situation is controlled, using PD control to carrying out continuing to control by the situation under energy hole to certain level；Using adding
Velocity sensor obtains representing the signal of vibration as feedback signal, is calculated by controller, amplified by power amplifier, in fact
The now control to piezoelectric actuator so realize wind tunnel model vibrate active suppression；Method comprises the following steps that：
Step 1 builds the wind-tunnel pole vibration suppression system based on fuzzy-PD control switching at runtime
Acceleration transducer (1) is arranged on dummy vehicle (8), piezoelectric actuator (10) is arranged on the tail end of pole (9)；
Connect pole (9) and dummy vehicle (8)；Pole (9) is fixedly connected with angle of attack adjusting apparatus (11)；By data collecting card
(5) it is arranged on computer (4) mainboard；Connect acceleration transducer (1) and data collecting card (5)；Again by computer (4), control
Device (6), power amplifier (7) and piezoelectric actuator (10) processed are sequentially connected；Vibrator (3) is placed on dummy vehicle (8)
Lower section, and signal generator (2) is connected with vibrator (3)；
Step 2 determines acceleration signal peak value sequence
The vibration acceleration signal collected is discrete signal a (1), a (2), a by certain sampling period after handling after filtering
(3) ..., a (n-1), a (n)；And it is to have some cycles, it is necessary to which discrete acceleration degree series are identified to vibrate；Obtain
The acceleration signal peak value sequence a of vibration periodm(1), am(2), am..., a (3)m(k-1), am(k)；
Step 3 determines fuzzy-PD control switching at runtime standard
The change of acceleration peak value sequence energy reaction system energy；When the margin of error is larger, fuzzy controller interventional systems, carry out
Coarse adjustment, make system fast approaching equilbrium position, while prevent active vibration suppression device from overloading；When the margin of error is smaller, PID controller is situated between
Enter system, be finely adjusted, overcome equalization point blind zone problem nearby, improve control accuracy；
Judge factors A using formula (1) computational algorithm
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Wherein, k is with reference to evaluation number, am(n-k), am(n-k+1) ..., am(n-1) it is respectively k is walked before n-th of peak value peak value
Sequence；
Judged using formula (2)
Wherein, AmFor the critical judgement factor of setting；
Step 4 is according to formula (2), as A≤AmUsing FUZZY ALGORITHMS FOR CONTROL；
Using acceleration signal a (n) as feedback signal, reference quantity r (n) ≡ 0, formula (3) calculates deviation
en=a (n)-r (n)=a (n) (3)
First, fuzzification process is carried out：By acceleration transducer, wind-tunnel pole vibration physical quantity, (vibration of pole tail end adds
Input measurement values of the velocity deviation e) as computer, then the precise volume of this input measurement value is converted into membership function and represented
Fuzzy set；
The actual range of the input deviation of fuzzy controller and the actual change scope of output variable are called the basic of this tittle
Domain；The deviation e basic domain of precise volume is [- Xe, Xe], the fuzzy quantity of deviation quantifies domain and is：
X={-n ,-n+1 ..., n-1, n } (4)
Wherein positive integer n is [0, Xe] in the range of consecutive variations deviation discretization after the series that is divided into；
Define the quantizing factor K of deviatione
Ke=n/Xe (5)
Quantizing factor KeAfter selected, any deviation e of systemiCan always there is formula (6) to be quantified as a certain element on domain；
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Wherein, t is the positive integer less than n；
Secondly, fuzzy logic inference is carried out：The fuzzy control that the one group of fuzzy condition statement rule of thumb made is formed
Rule, and fuzzy logic inference, control output are carried out by formula (7) according to the rule；
U=f (X) (7)
Wherein, f () is to export the mapping function that fuzzy quantity U correspondingly inputs fuzzy quantity X；
Finally, fuzzy output amount and anti fuzzy method：Exporting fuzzy set is
U={ U (- n), U (- n+1) ..., U (0) ..., U (n-1), U (n) } (8)
Using maximum person in servitude's degree method, the maximum factor of degree of membership is calculated as controlled quentity controlled variable um, i.e.,：
um=max (u (- n), u (- n+1) ..., u (0) ..., u (n-1), u (n)) (9)
The reality output of computing controller
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Wherein, UmIt is to export the maximum in fuzzy set U, u is reality output amount；
Step 5 is according to formula (2), as A >=AmUsing PD control algorithm；
Using PD control algorithm, controlled quentity controlled variable is calculated using formula (11)
U (k)=kpen+kd(en-en-1) (11)
Wherein, kpFor proportional feedback factor and kdFor Derivative Feedback coefficient.
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| CN201710653857.7A CN107479376B (en) | 2017-08-03 | 2017-08-03 | Wind tunnel strut vibration suppression method based on fuzzy and proportional differential control dynamic switching |
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| CN107479376B CN107479376B (en) | 2020-04-07 |
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| CN201710653857.7A Active CN107479376B (en) | 2017-08-03 | 2017-08-03 | Wind tunnel strut vibration suppression method based on fuzzy and proportional differential control dynamic switching |
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