本文選題：精密平臺(tái) + 磁流變彈性體隔減振裝置�。� 參考：《南京林業(yè)大學(xué)》2016年碩士論文

【摘要】：磁流變彈性體是磁流變材料的一個(gè)新的分支,其典型特征就是模量和阻尼等性能可由外加磁場(chǎng)來(lái)控制,且響應(yīng)速度很快、可控性好,常被應(yīng)用在很多領(lǐng)域的減振控制中。目前,由于精密儀器設(shè)備對(duì)外界環(huán)境需求越來(lái)越高,而現(xiàn)有的隔減振控制效果又不明顯,對(duì)低頻的干擾隔離效果很差。所以本文結(jié)合國(guó)內(nèi)外對(duì)磁流變彈性體的研究,采用本課題組研究并制作的磁流變彈性體裝置對(duì)承載精密儀器的工作平臺(tái)進(jìn)行減振控制,以期解決被控平臺(tái)的減振效果問(wèn)題。本課題以解決磁流變彈性體隔減振裝置的控制電流智能選取的問(wèn)題以及智能控制器的研制為目的,主要完成了以下工作:(1)簡(jiǎn)要概述了磁流變彈性體隔減振裝置及其相應(yīng)控制器的國(guó)內(nèi)外研究現(xiàn)狀,以及還存在的問(wèn)題;(2)研究并采用精密平臺(tái)隔減振系統(tǒng)的半主動(dòng)控制方案,然后根據(jù)本課題組所制作出的磁流變彈性體減振裝置計(jì)算出裝有該裝置的精密平臺(tái)的動(dòng)力學(xué)模型,最后根據(jù)控制器能夠輸出的最大電流值來(lái)計(jì)算該裝置能夠出的最大的力;(3)針對(duì)磁流變彈性體隔減振裝置控制電流的智能精確選擇的問(wèn)題,本文提出了利用模糊分?jǐn)?shù)階PID控制算法對(duì)電流進(jìn)行智能選擇。首先采用粒子群算法對(duì)分?jǐn)?shù)階PID五個(gè)變量進(jìn)行優(yōu)化得到最優(yōu)值,然后運(yùn)用模糊控制算法對(duì)分?jǐn)?shù)階PID的五個(gè)關(guān)鍵參數(shù)進(jìn)行實(shí)時(shí)調(diào)整以達(dá)到更好的控制性能,最后使用SIMULINK仿真平臺(tái)對(duì)精密平臺(tái)模型結(jié)合控制算法進(jìn)行動(dòng)態(tài)仿真,結(jié)果表明,該控制算法能夠很好的抑制平臺(tái)的豎向振動(dòng);(4)研發(fā)了一款基于ARM Cortex-M4的STM32當(dāng)作微處理器的精密平臺(tái)智能減振控制器,且以Keil為軟件開(kāi)發(fā)環(huán)境,設(shè)計(jì)了基于加速度反饋的控制系統(tǒng),并詳細(xì)介紹了該控制系統(tǒng)的核心硬件電路、外部電流輸出硬件電路和相關(guān)軟件設(shè)計(jì)。該系統(tǒng)電路具體由微控制器周邊的各種接口、加速度采集電路、數(shù)據(jù)傳輸顯示、低通濾波以及壓控電流電路等模塊組成,并結(jié)合模糊分?jǐn)?shù)階PID控制算法通過(guò)手動(dòng)改變PWM輸出占空比的方法得知所設(shè)計(jì)的智能控制器輸出電流較為準(zhǔn)確能夠滿足控制要求;(5)利用實(shí)際的動(dòng)態(tài)試驗(yàn),驗(yàn)證該減振控制器的實(shí)際控制效果。結(jié)果表明:該智能控制器能夠很好的運(yùn)行所提出的模糊分?jǐn)?shù)階PID控制算法,并能夠根據(jù)外界加速度的變化實(shí)時(shí)的精確的輸出相應(yīng)PWM波,同時(shí)驗(yàn)證了所設(shè)計(jì)的外部硬件電路能夠根據(jù)PWM波輸出相應(yīng)的精確的電流。
[Abstract]:Magnetorheological elastomer is a new branch of magneto-rheological material. Its typical characteristic is that the properties such as modulus and damping can be controlled by external magnetic field, and the response speed is fast and the controllability is good, so it is often used in many fields of vibration control. At present, due to the increasing demand of precision instruments for the external environment, but the existing vibration isolation control effect is not obvious, the low frequency interference isolation effect is very poor. So this paper combines the research of magneto-rheological elastomer at home and abroad, adopts the magnetorheological elastomer device studied by our group to control the vibration of the working platform carrying precision instrument, in order to solve the problem of vibration reduction effect of the controlled platform. The purpose of this project is to solve the problem of intelligent selection of control current and the development of intelligent controller for the vibration isolation device of magneto-rheological elastomer. The main work of this paper is as follows: (1) A brief overview of the research status of the magnetorheological elastomer vibration isolating device and its corresponding controllers at home and abroad, and the existing problems are also given. The semi-active control scheme of the vibration isolation system of the precision platform is studied and adopted. Then the dynamic model of the precision platform with this device is calculated according to the magneto-rheological elastomer vibration absorber made by our group. Finally, according to the maximum current value that the controller can output to calculate the maximum force that the device can produce, aiming at the problem of intelligent and accurate selection of the control current of the magnetorheological elastomer vibration isolator, In this paper, a fuzzy fractional order PID control algorithm is proposed to select the current intelligently. Firstly, the particle swarm optimization algorithm is used to optimize the five variables of fractional PID, and then the fuzzy control algorithm is used to adjust the five key parameters of fractional PID in real time to achieve better control performance. Finally, the SIMULINK simulation platform is used to simulate the precision platform model and control algorithm. The results show that, This control algorithm can restrain the vertical vibration of the platform very well. (4) A kind of intelligent damping controller based on ARM Cortex-M4 STM32 is developed, and the control system based on acceleration feedback is designed with Keil as the software development environment. The core hardware circuit, external current output hardware circuit and related software design of the control system are introduced in detail. The system circuit is composed of various interfaces around the microcontroller, acceleration acquisition circuit, data transmission display, low-pass filter and voltage-controlled current circuit, etc. Combined with the fuzzy fractional PID control algorithm, by manually changing the duty cycle of PWM output, it is found that the output current of the designed intelligent controller can meet the control requirements more accurately. The actual control effect of the damping controller is verified. The results show that the intelligent controller can run the fuzzy fractional PID control algorithm well, and can output the corresponding PWM wave accurately and in real time according to the change of external acceleration. At the same time, it is verified that the designed external hardware circuit can output the corresponding accurate current according to the PWM wave.
【學(xué)位授予單位】：南京林業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TB535

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本文編號(hào)：1854765