载荷时变的双层隔振系统自适应滑模控制  

Adaptive sliding mode control for two-stage vibration isolating system with time-varying loads

作　　者：崔明月 刘红钊 屈重年 孙棣华[3] 

机构地区：[1]南阳师范学院机电工程学院,河南南阳473061 [2]石油装备与智能化控制河南省工程实验室,河南南阳473061 [3]重庆大学自动化学院,重庆400044

出　　处：《振动工程学报》2017年第4期610-619,共10页Journal of Vibration Engineering

基　　金：国家自然科学基金河南联合基金项目(U1404614);河南省科技攻关项目(142300410455);河南省教育厅科学技术研究重点项目(17A413002;14B120003)

摘　　要：针对实际应用双层隔振系统载荷时变的特性,设计了基于正交函数近似法的自适应滑模控制器的振动控制策略。首先,将系统的参考坐标置于名义载荷下的静态位移处,同时考虑到弹簧刚度的非线性特性,建立系统的非线性模型。其次,将系统的不确定部分用两个未知时变函数来描述,应用一系列加权正交函数的和来近似未知函数,基于滑模控制理论设计自适应滑模控制律,结合Lyapunov直接法推导正交函数序列系数的自适应更新律,同时可以保证系统的稳定性。与传统PID控制的对比仿真与实验结果表明,提出的自适应滑模控制策略能够更好地克服载荷时变的影响,提高了系统的控制性能。An adaptive sliding controller is proposed in this paper for controlling a two-stage vibration isolating system with time-varying loads.The reference coordinate is placed at the static position under the nominal loading so that the system dynamic equation is derived.Due to spring nonlinearities,the system property becomes asymmetric after coordinate transformation.Besides,in practical cases,system parameters are not easy to be obtained precisely for controller design.Therefore,in this paper,system uncertainties are lumped into two unknown time-varying functions.To estimate the unknown time-varying functions online,the orthogonal function approximation technique is employed to represent the unknown function as a finite combination of basis functions.The Lyapunov＇s direct method is used to derive adaptive laws for updating coefficients in the approximating series and to prove stability of the closed-loop system.The simulation and experiment results demonstrate that the control performance of the present method for structure greatly compensates the effects of time-varying load sand parameter uncertainties and improves control effectiveness,in comparison with the conventional PID approach.

关 键 词：主动控制 双层隔振系统 正交函数近似法 自适应滑模控制 

分 类 号：O328[理学—一般力学与力学基础] TP183[理学—力学]