摘要
该研究将音圈电机作动的二重动力吸振器(dynamicvibration absorber,DVA)应用于柔性杆端部来实现振动抑制。为克服柔性杆本身容易受扰和DVA抑振带宽不足的问题,采用两个小型音圈电机构成主动式二重DVA,针对该DVA设计主动振动控制方法。首先,基于柔性杆的动力学等效建立了状态空间模型,在分析音圈电机的驱动特性后,采用线性二次型最优控制(linear quadratic regulator,LQR)反馈控制器最小化扰动通道的传递函数增益,结合非线性跟踪微分器同时滤波和提取微分信号;在此基础上,引入时变增益的扩张状态观测器对模型不确定性、高阶模态以及未知扰动进行补偿。对抑振效果进行仿真分析,结果表明基于音圈电机的二重DVA与自抗扰LQR控制器相结合,抑制柔性杆端残余振动,兼有强鲁棒性和抗扰能力。
A double dynamic vibration absorber(DVA) actuated by two voice coil motors was applied to the end of a flexible beam to achieve vibration suppression.In order to overcome the problems of flexible arm's susceptible characteristics and insufficient vibration suppression bandwidth of the DVA,two small voice coil motors were used to form the active double DVA,and an active vibration control method was designed.Firstly,the state space model was established based on the dynamic equivalent model of flexible beam.After analyzing the driving characteristics of the voice coil mostors,a linear quadratic regulator(LQR) controller was used to minimize the transfer function gain of the disturbance channel,in which a nonlinear Tracking differentiator was used to filter and extract differential signals.On this basis,the Time-varying gain extended state observer was introduced to compensate for the model uncertainty,high-order modes and unknown disturbances.Finally,the numerical simulation evaluation of vibration suppression effect was carried out.The results show that when the double DVA based on voice coil motors is combinedly used with the LQR active disturbance rejection controller(ADRC),the residual vibration at the end of the flexible beam can be suppressed with strong robustness and high disturbance rejection capability.
作者
朱泳廷
张泽
ZHU Yongting;ZHANG Ze(School of Mechanical Engineering,Guizhou University,Guiyang 550025,China)
出处
《振动与冲击》
EI
CSCD
北大核心
2023年第22期283-292,共10页
Journal of Vibration and Shock
基金
贵州省科技计划项目(黔科合基础[2019]1126)。
关键词
振动抑制
柔性杆
音圈电机
吸振器
自抗扰控制
线性二次型最优控制(LQR)
vibration suppression
flexible beam
voice coil motor
vibration absorber
active disturbance rejection controller
linear quadratic regulator(LQR)
