基于Prandtl-Ishlinskii模型的智能悬臂梁迟滞补偿与自适应复合控制研究  

Research on Hysteresis Compensation and Compound Adaptive Control of Smart Cantilever Beams Based on Prandtl-Ishlinskii Model

作　　者：杨越 张婷 YANG Yue;ZHANG Ting(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《噪声与振动控制》2020年第4期32-37,共6页Noise and Vibration Control

基　　金：国家自然科学基金资助项目(11702168)。

摘　　要：随着智能结构在当今工程的应用越来越广泛,智能结构的迟滞特性受到越来越多的关注。这种迟滞特性不但影响系统的输出精度,甚至威胁系统的稳定性。为了解决这一问题,本文提出一种自适应复合控制策略:首先运用最小二乘算法在线实时辨识智能结构PI(Prandtl-lshlinskii)正模型,模拟智能结构的迟滞特性;基于智能结构PI(Prandtl-lshlinskii)正模型建立智能结构的PI逆模型,实现智能悬臂梁迟滞特性的补偿;同时,将智能结构的输出作为反馈信号,采用最小方差自校正控制律在线设计反馈增益,达到构成智能结构闭环控制系统的目的。通过数值仿真,对比智能结构在有无迟滞补偿两种情况下的振动控制效果,探索智能结构迟滞特性对智能结构的振动控制效果的影响规律,并通过实验验证两种情况下智能结构振动控制结果,得出迟滞特性影响智能结构振动控制效果的有效结论。结果表明:在有迟滞补偿情况下智能结构的振动控制效果优于无迟滞补偿情况下的控制效果。With the increasing application of intelligent structures in modern engineering,the hysteresis characteristics of intelligent structures have received more and more attention.This hysteresis affects the output accuracy and the stability of the system.In order to solve this problem,this paper proposes an adaptive compound control strategy.Firstly,the least squares algorithm is used to identify the Prandtl-Ishlinskii(PI)model online in real time to simulate the hysteresis characteristic of the intelligent structure.Based on the PI model,the PI inverse model of the intelligent structure is established to realize the compensation of the hysteresis characteristic of the intelligent cantilever beam.At the same time,the output of the intelligent structure is used as the feedback signal,and the feedback gain is designed online using the minimum variance selfcorrecting control law to achieve closed-loop control of the intelligent structure.Through numerical simulation and comparing the vibration control effect of the smart structure with or without hysteresis compensation,the influence of the hysteresis characteristic of the smart structure on the vibration control effect of the smart structure is detected.The vibration control effects of the smart structure in the two cases are verified through experiments.It is concluded that the hysteresis characteristic can affect the vibration control effect of smart structures.The results show that the vibration control effect of intelligent structures with hysteresis compensation is better than that without hysteresis compensation.

关 键 词：振动与波 智能悬臂梁 PI(Prandtl-lshlinskii)模型 自适应逆控制 最小方差自校正控制 复合控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]