CAJ | 학술논문

为实现较少致动器数目下柔性构件多个振动模态的主动控制，基于力学原理及模态理论建立智能柔性构件动力学方程。在研究单模态 PPF 控制器性能特点及稳定条件基础上，提出考虑不同模态权重的改进多模态 PPF 控制器。采用根轨迹法分析系统的闭环阻尼特性确立各阶 PPF 控制器最佳控制参数并进行数值仿真；搭建实验平台验证相关分析及控制策略的有效性。结果表明，所提考虑模态权重的改进多模态 PPF 控制器利用单组致动器能有效抑制柔性梁构件的多阶振动模态、显著缩短柔性构件振动的衰减时间。实验中柔性构件的衰减时间由6 s 减少为2．5 s。实现较少数目致动器下柔性构件多阶弹性模态的振动主动控制。
위실현교소치동기수목하유성구건다개진동모태적주동공제，기우역학원리급모태이론건립지능유성구건동역학방정。재연구단모태 PPF 공제기성능특점급은정조건기출상，제출고필불동모태권중적개진다모태 PPF 공제기。채용근궤적법분석계통적폐배조니특성학립각계 PPF 공제기최가공제삼수병진행수치방진；탑건실험평태험증상관분석급공제책략적유효성。결과표명，소제고필모태권중적개진다모태 PPF 공제기이용단조치동기능유효억제유성량구건적다계진동모태、현저축단유성구건진동적쇠감시간。실험중유성구건적쇠감시간유6 s 감소위2．5 s。실현교소수목치동기하유성구건다계탄성모태적진동주동공제。
To actively suppress multi-mode vibration of a structure with less actuators,the dynamic model of a smart flexible structure was derived based on the mechanical principle and modal theory.Characteristics and stability condition for a single-mode positive position feedback (PPF)controller were studied,and then a modified multi-mode PPF controller considering different weights of each mode was proposed.Damping characteristics of a close-loop system was acquired with the root locus method,the optimal parameters for each mode of the PPF controller were determined.After some numerical simulations,the test platform was set up.The validity and feasibility of the proposed controller were demonstrated with the simulation and test results.It was shown that the multi-mode vibration of the structure with the modified multi-mode PPF controller is significantly reduced using only a pair of piezoelectric actuators,and its damping decay time is shortened to 2.5 s from 6 s.So the multi-mode vibration of the flexible structure was well suppressed using less piezoelectric actuators.