多自由度系统振动控制仿真和实验

SIMULATION AND EXPERIMENTS OF VIBRATIiON CONTROL FOR MULTI-DEGREES-OF-FREEDOM SYSTEMS

对于复杂的多自由度系统的振动控制 ,耦合问题是一个难点。分析分析了对多自由度系统采用多个单输入单输出的控制方法的条件 ,即控制线性系统的一组广义坐标来达到控制整个系统的目的。应用这种理论 ,对一个两自由度系统进行了实验研究 ,并采用六组独立的LMS自适应算法 ,对一种特殊的六自由度结构———立方Stewart平台———进行振动控制过程仿真 ,实验和仿真效果均把原振动减小了 90 %以上。

It is difficult to solve coupling problem in the control of multi-degrees-of-freedom systems. The condition of using multi SISO controller to control the whole system was studied. For linear systems, the goal could be reached by controlling a set of generalized coordinates of the system. Some experiments on a two-degrees-of-freedom system were made to prove the method. Six groups of independent LMS adaptive algorithms were used to simulate the vibration depression of a special cubic Stewart platform. Both the experiments and simulations provide ideal results.