基于FxRLS自适应逆补偿的振动控制策略研究  

Vibration control strategy based on FxRLS adaptive inverse compensation

作　　者：王敏[1,2] 廖松泉 钟雨轩[1,3] WANG Min;LIAO Songquan;ZHONG Yuxuan(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China;MOE Engineering Research Center of Unmanned Intelligent Marine Equipment,Shanghai University,Shanghai 200444,China;School of Computer Engineering and Science,Shanghai University,Shanghai 200444,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200444 [2]上海大学海洋智能无人系统装备教育部工程技术研究中心,上海200444 [3]上海大学计算机工程与科学学院,上海200444

出　　处：《振动与冲击》2023年第23期215-222,共8页Journal of Vibration and Shock

基　　金：国家重点研发计划(2020YFB1313000);国家自然科学基金项目(61903242,61922053)。

摘　　要：为满足航天器中搭载的高精度设备对振动环境要求的不断提高,提出将滤波-x最小递归二乘(filtered-x recursive least square, FxRLS)自适应算法与逆补偿法结合应用于隔振系统中。首先从系统动力学模型和自适应逆补偿算法两方面展开理论分析,通过FxRLS自适应控制对系统响应进行精确跟踪,利用逆补偿控制对系统振动主动消除。为验证控制策略的有效性,在Simulink和实验环境中,搭建验证系统。结果表明:对不同激励信号下的跟踪性能及振动消除效果进行仿真分析,自适应逆补偿输出的控制信号能有效跟踪负载端振动信号,跟踪率最高可达99.97%。相比滤波-x最小均方(filtered-x least mean square, FxLMS),FxRLS在跟踪速度和跟踪精度两方面的综合性能更优。应用FxRLS自适应逆补偿控制后,试验显示随机扰动隔振率达到66.7%。试验与仿真结果都证明控制策略的有效性。Here,to meet the continuous improvement of vibration environment requirements for high-precision equipment carried in spacecraft,a combination of filtered-x recursive least square(FxRLS)adaptive algorithm and inverse compensation method was proposed for vibration isolation systems.Firstly,theoretical analysis was performed from two aspects of system dynamic model and adaptive inverse compensation algorithm,FxRLS adaptive control was used to accurately track the system response,and inverse compensation control was used to actively eliminate system vibration.To verify the effectiveness of this control strategy,a verification system was established in Simulink and experimental environments.The results showed that tracking performance and vibration elimination effect under different excitation signals are simulated and analyzed,adaptive inverse compensation output control signal can effectively track vibration signal at load end with a tracking rate of up to 99.97%;compared to filtered-x least mean square(FxLMS),FxRLS has better comprehensive performance in tracking speed and tracking accuracy;after applying FxRLS adaptive inverse compensation control,in experiments,the random disturbance vibration isolation rate reaches 66.7%;experiment and simulation results both demonstrate the effectiveness of the proposed control strategy.

关 键 词：振动隔离 自适应算法 逆补偿控制 跟踪控制 

分 类 号：V219[航空宇航科学与技术—航空宇航推进理论与工程] TH113.1[机械工程—机械设计及理论]