Design And Verification Of Compound Active Disturbance Rejection Control System For Complex Structure Vibration

Vibration is a very common phenomenon in all kinds of vehicles.Harmful vibration,especially resonance,will not only affect the comfort of passengers,but also damage the system structure and bury major safety hazards.Therefore,effective control of harmful vibration is in line with contemporary Research and development needs,with broad application prospects.As the core of the system,the vibration control algorithm needs to have the characteristics of simple structure,easy implementation and excellent control effect.Therefore,this paper combines theoretical analysis,system simulation and experimental verification,and carries out a series of design and research on the active vibration control system of complex structure.The main tasks include:Firstly,an all-clamped plate experimental platform is set up,and laser vibrometers,inertial actuators,etc.are used for modal analysis to optimize the placement of sensors and actuators.At the same time,based on the system identification and dynamic equations,the mathematical models of the PZT-ACP system and the IA-ACP system are established respectively,and the correctness of the model is verified through simulation and experiment.Secondly,the active disturbance rejection controller is introduced and then applied to create performance indicators with linear quadratic regulators.Meanwhile,the control basic principles and the important components characteristics are discussed in detail.Through stability analysis and simulation,it is verified that the practicability of the active disturbance rejection control algorithm in vibration suppression.Thirdly,given the high hardware cost and development difficulty of vibration control engineering,a vibration control system based on MATLAB code generation technology is designed,which mainly includes control algorithm,ARM processor,conditioning circuit and host computer.Through PID control experiments and ADRC experiments,the effectiveness of the design platform is verified.Fourthly,considering the model uncertainty and time delay problems in PZT-ACP system,the traditional differentiator is improved to reduce the noise amplification effect,and the equivalent transformation is performed based on the predictor to make the time delay compensation is easier to achieve.Subsequently,the coherence of the TDCLADRC and ADRC is explored,and the conclusion of different control algorithms on the time delay margin is drawn by means of comparative experiments.Finally,in view of the high model order and large noise in IA-ACP single-mode system,the model is reduced in the low frequency band,so as to design a RLESO to reduce the system cost and design the phase compensated TD filter with internal compensation to improve the control performance of the system.In the multi-modal control of the system,the modal coordinate system is first used for model processing,and then the steady-state error and system noise are analyzed as difficult points to improve the nonlinear ESO applicable to vibration control,and at the same time a vibration energy index function is created to guide the selection of controller parameters.Comparative experimental results show that the proposed minimum system vibration energy principle based algorithm possesses better vibration suppression performance than the traditional NADRC.