基于迭代學(xué)習(xí)控制的柔性結(jié)構(gòu)振動(dòng)控制設(shè)計(jì)與研究
發(fā)布時(shí)間：2019-05-12 04:59
【摘要】：與剛性結(jié)構(gòu)相比,柔性結(jié)構(gòu)質(zhì)輕、靈活和低耗,廣泛應(yīng)用在航天航空、海洋立管以及機(jī)器人等工程領(lǐng)域。但是在實(shí)際工程環(huán)境中,外部干擾經(jīng)常導(dǎo)致柔性結(jié)構(gòu)振動(dòng),從而縮短使用壽命,嚴(yán)重時(shí)會(huì)導(dǎo)致系統(tǒng)癱瘓。在設(shè)計(jì)控制器的過程中,觀測(cè)器和執(zhí)行器會(huì)出現(xiàn)振幅受限、輸出延遲等非線性情況,如果忽略這些非線性特性也會(huì)導(dǎo)致柔性結(jié)構(gòu)系統(tǒng)的不穩(wěn)定。本文主要考慮了兩種非線性輸入和四種柔性結(jié)構(gòu),其中柔性弦系統(tǒng)是最基本、最簡(jiǎn)單的柔性結(jié)構(gòu)系統(tǒng),可以由一個(gè)二階的波動(dòng)方程表示。在柔性弦系統(tǒng)中,本研究使用了兩個(gè)飽和函數(shù)來處理受限輸入。柔性伯努利-歐拉梁是一個(gè)四階的高階偏微分方程系統(tǒng),其中雙曲正切函數(shù)和飽和函數(shù)用來處理受限輸入。具有受限輸入的柔性機(jī)械臂系統(tǒng)是一個(gè)旋轉(zhuǎn)的伯努利-歐拉梁系統(tǒng),是一個(gè)橫向振動(dòng)與旋轉(zhuǎn)相互耦合的柔性結(jié)構(gòu)系統(tǒng)。相比較而言,具有backlash輸入的柔性鐵木辛柯梁系統(tǒng)是最為復(fù)雜的,涉及到了鐵木辛柯梁的橫向振動(dòng)和其橫截面的旋轉(zhuǎn)。隨著系統(tǒng)環(huán)境復(fù)雜度和控制目標(biāo)精確度的提高,單一的控制方法無法完美的滿足控制過程的需求。面對(duì)具有無窮自由度的分布式參數(shù)系統(tǒng)、受限輸入、backlash輸入、分布式干擾和邊界干擾,單一的邊界控制、自適應(yīng)控制和迭代學(xué)習(xí)控制都無法實(shí)現(xiàn)閉環(huán)系統(tǒng)的漸進(jìn)穩(wěn)定。為此,本文使用了雙環(huán)耦合的迭代學(xué)習(xí)方法,即將一個(gè)作為副環(huán)的學(xué)習(xí)環(huán)嵌套在一個(gè)作為主環(huán)的調(diào)控環(huán)。本文設(shè)計(jì)了雙環(huán)耦合的邊界迭代學(xué)習(xí)控制器和雙環(huán)耦合的自適應(yīng)迭代學(xué)習(xí)控制器。在這兩類控制器中,副環(huán)在本質(zhì)上都是一個(gè)典型的D型迭代學(xué)習(xí)控制率,主要是為了抑制系統(tǒng)振動(dòng)和保證控制器的非線性特性。在雙環(huán)耦合的邊界迭代學(xué)習(xí)控制器中,主環(huán)本質(zhì)上是一個(gè)邊界控制法則,主要是通過系統(tǒng)狀態(tài)的反饋來抑制分布式干擾和邊界干擾。在雙環(huán)耦合的自適應(yīng)迭代學(xué)習(xí)控制器中,主環(huán)主要由觀測(cè)器和系統(tǒng)狀態(tài)反饋信號(hào)組成。通過定義復(fù)合能量函數(shù),本文證明了閉環(huán)系統(tǒng)系統(tǒng)在每個(gè)迭代周期內(nèi)的有界性和迭代軸上的收斂性。為了顯示閉環(huán)系統(tǒng)的性能和所設(shè)計(jì)的控制器的有效性,本文做了MATLAB數(shù)字仿真和機(jī)械臂實(shí)驗(yàn)。在數(shù)字仿真中,本文對(duì)比了無控制外力下的開環(huán)系統(tǒng)和所設(shè)計(jì)控制器下的閉環(huán)系統(tǒng)。在機(jī)械臂實(shí)驗(yàn)中,本文對(duì)比了無控制下的開環(huán)系統(tǒng)、PD控制下的閉環(huán)系統(tǒng)和雙環(huán)耦合的迭代學(xué)習(xí)控制下的閉環(huán)系統(tǒng)。
[Abstract]:Compared with rigid structure, flexible structure is light, flexible and low consumption, and is widely used in aerospace, marine riser, robot and other engineering fields. However, in the actual engineering environment, external interference often leads to the vibration of flexible structures, thus shortening the service life, which will lead to the paralysis of the system in serious cases. In the process of designing the controller, the observer and actuator will have nonlinear cases such as amplitude limitation and output delay. If these nonlinear characteristics are ignored, the instability of flexible structure system will also be caused. In this paper, two kinds of nonlinear inputs and four kinds of flexible structures are considered, in which the flexible string system is the most basic and the simplest flexible structure system, which can be represented by a second-order wave equation. In flexible string system, two saturation functions are used to deal with restricted input. Flexible Bernoulli-Euler beam is a fourth-order system of higher order partial differential equations, in which hyperbolic tangent function and saturation function are used to deal with restricted input. The flexible manipulator system with limited input is a rotating Bernoulli Euler beam system, which is a flexible structure system coupled with transverse vibration and rotation. In comparison, the flexible Timoxinke beam system with backlash input is the most complex, which involves the transverse vibration and the rotation of its cross section. With the improvement of the complexity of the system environment and the accuracy of the control target, a single control method can not meet the needs of the control process perfectly. In the face of distributed parameter systems with infinite degrees of freedom, restricted input, backlash input, distributed interference and boundary interference, single boundary control, adaptive control and iterative learning control can not achieve the progressive stability of the closed-loop system. In this paper, a double ring coupling iterative learning method is used, that is, a learning ring as a secondary ring is embedded in a control ring as a main ring. In this paper, the boundary iterative learning controller with double loop coupling and the adaptive iterative learning controller with double loop coupling are designed. In these two kinds of controllers, the secondary loop is essentially a typical D-type iterative learning control rate, mainly to suppress the vibration of the system and ensure the nonlinear characteristics of the controller. In the double-loop coupled boundary iterative learning controller, the main loop is essentially a boundary control rule, mainly through the feedback of the state of the system to suppress distributed interference and boundary interference. In the adaptive iterative learning controller with double loop coupling, the main loop is mainly composed of observer and system state feedback signal. By defining the compound energy function, the bounded property of the closed-loop system in each iterative period and the convergence on the iterative axis are proved in this paper. In order to show the performance of the closed-loop system and the effectiveness of the designed controller, MATLAB digital simulation and manipulator experiments are carried out in this paper. In the digital simulation, the open loop system under uncontrolled external force and the closed loop system under the designed controller are compared in this paper. In the manipulator experiment, the open-loop system under uncontrolled control, the closed-loop system under PD control and the closed-loop system under double-loop coupled iterative learning control are compared in this paper.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TB535
本文編號(hào)：2475125
[Abstract]:Compared with rigid structure, flexible structure is light, flexible and low consumption, and is widely used in aerospace, marine riser, robot and other engineering fields. However, in the actual engineering environment, external interference often leads to the vibration of flexible structures, thus shortening the service life, which will lead to the paralysis of the system in serious cases. In the process of designing the controller, the observer and actuator will have nonlinear cases such as amplitude limitation and output delay. If these nonlinear characteristics are ignored, the instability of flexible structure system will also be caused. In this paper, two kinds of nonlinear inputs and four kinds of flexible structures are considered, in which the flexible string system is the most basic and the simplest flexible structure system, which can be represented by a second-order wave equation. In flexible string system, two saturation functions are used to deal with restricted input. Flexible Bernoulli-Euler beam is a fourth-order system of higher order partial differential equations, in which hyperbolic tangent function and saturation function are used to deal with restricted input. The flexible manipulator system with limited input is a rotating Bernoulli Euler beam system, which is a flexible structure system coupled with transverse vibration and rotation. In comparison, the flexible Timoxinke beam system with backlash input is the most complex, which involves the transverse vibration and the rotation of its cross section. With the improvement of the complexity of the system environment and the accuracy of the control target, a single control method can not meet the needs of the control process perfectly. In the face of distributed parameter systems with infinite degrees of freedom, restricted input, backlash input, distributed interference and boundary interference, single boundary control, adaptive control and iterative learning control can not achieve the progressive stability of the closed-loop system. In this paper, a double ring coupling iterative learning method is used, that is, a learning ring as a secondary ring is embedded in a control ring as a main ring. In this paper, the boundary iterative learning controller with double loop coupling and the adaptive iterative learning controller with double loop coupling are designed. In these two kinds of controllers, the secondary loop is essentially a typical D-type iterative learning control rate, mainly to suppress the vibration of the system and ensure the nonlinear characteristics of the controller. In the double-loop coupled boundary iterative learning controller, the main loop is essentially a boundary control rule, mainly through the feedback of the state of the system to suppress distributed interference and boundary interference. In the adaptive iterative learning controller with double loop coupling, the main loop is mainly composed of observer and system state feedback signal. By defining the compound energy function, the bounded property of the closed-loop system in each iterative period and the convergence on the iterative axis are proved in this paper. In order to show the performance of the closed-loop system and the effectiveness of the designed controller, MATLAB digital simulation and manipulator experiments are carried out in this paper. In the digital simulation, the open loop system under uncontrolled external force and the closed loop system under the designed controller are compared in this paper. In the manipulator experiment, the open-loop system under uncontrolled control, the closed-loop system under PD control and the closed-loop system under double-loop coupled iterative learning control are compared in this paper.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TB535
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