基于模糊PID控制器的变质量-柔性梁结构振动主动控制  

Vibration active control of a flexible beam with time-varying mass based on fuzzy PID controller

作　　者：马驰骋[1,2] 罗亚军[2] 张希农[2] 程相孟[1] 邵明玉 MA Chicheng;LUO Yajun;ZHANG Xinong;CHENG Xiangmeng;SHAO Mingyu(Department of Mechanics,Shandong University of Technology,Zibo255000,China;State Key Lab for Strength and Vibration of Mechanical Structures,Xi'an Jiaotong University,Xi'an710049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255000 [2]西安交通大学机械结构强度与振动国家重点实验室,西安710049

出　　处：《振动与冲击》2018年第23期197-203,240,共8页Journal of Vibration and Shock

基　　金：机械结构强度与振动国家重点实验室开放课(SV2016-KF-07);山东省自然科学基金(ZR2016AL06;ZR2016EEM12)

摘　　要：机械臂结构通常用来搬运或者传输物品,而质量在传递过程中可能移动或者改变大小,因此这类结构属于典型的变质量结构,含质量构件的机械臂通常被简化为附加集中质量或附加变质量的柔性杆梁结构。以含变质量构件的压电梁结构为研究对象,从材料的本构方程出发,使用模态叠加法推导了粘贴有压电片的变质量-柔性梁结构的控制方程,通过计算仿真得到变质量时变系统的瞬态响应,分析了变质量-柔性梁结构的振动特性和运动规律,然后开展变质量柔性梁结构的振动主动控制研究;针对系统的变质量时变特性,设计模糊PID控制器对含变质量单元的柔性梁结构开展了振动主动控制研究,考虑了多种工况下系统的振动抑制问题;鉴于FFT在非平稳信号分析中的不足,使用时频分析技术将信号在时间-频率域上分解,得到了信号在时频域上的能量分布信息,更加准确的比较了控制效果。数值仿真表明,由于系统的变质量特性,系统没有固有频率,而是以共振频率带的形式出现;PID控制和模糊PID控制两种算法都可以实现系统的振动抑制,但是使用模糊自整定PID控制器,鲁棒性高,自适应性强,通过改进PID控制器的参数,可有效的提高控制效果。Manipulators are usually designed to carry or move goods,and their mass may move or change its magnitudes in transmission,so manipulators belong to time-varying mass structures.Here,manipulators were simplified as flexible beam structures with time-varying mass to investigate their dynamic characteristics and vibration active control.The dynamic control equation of a flexible beam with time-varying mass was derived with the mode superposition method and the material constitutive equation.The transient responses of the system were computed,and its dynamic characteristics and vibration laws were analyzed.Then,vibration active control of this structure was studied.For the mass time-varying feature of the system,a fuzzy PID controller was designed to study vibration active control for this system.Vibration suppressions were simulated under different operational conditions,and the results were compared with those using a classical PID controller.Considering shortages of FFT in non-stationary signal analysis,the time-frequency analysis technique was utilized to decompose the collected vibration signals and obtain their energy distribution information in time-frequency domain.Hence,the control effects of the two controllers were compared more accurately.The numerical simulations showed that due to the system’s variable mass feature,the system doesn’t have natural frequencies,but has a resonance frequency band;both two control strategies of PID and fuzzy PID can realize the system’s vibration control,but the fuzzy PID controller has a stronger robustness and higher self-adaptability,so improving its parameters can effectively enhance the vibration control effect.

关 键 词：变质量 时变系统 振动控制 模糊PID 

分 类 号：O328[理学—一般力学与力学基础]