一类动量交换刚柔耦合系统的鲁棒减振跟踪

ROBUST VIBRATION-SUPPRESSED TRACKING FOR A CLASS OF MOMENTUM-EXCHANGING RIGID-FLEXIBLE COUPLED SYSTEM

提出鲁棒减振跟踪控制方法对一类刚柔耦合系统进行角位移跟踪控制,同时避免激发柔性部件的长时间振动。在推导动量交换刚柔耦合系统数学模型的基础上得到传递函数矩阵,将柔性部件对应的传递函数、角位移跟踪误差、控制量均引入控制目标函数,并将该控制器综合问题转化到H∞优化框架。该方法不需引入额外作动器,在实现中心刚体角位移快速跟踪的同时,避免了柔性部件振动被长时间激发以及控制量过大等弊端。仿真算例验证了方法的有效性。

A robust control design approach is brought forward for a class of rigid-flexible coupled systems to track an angular displacement command and to suppress the lasting vibration of the flexible components due to the coupling effect. A plant which consists of a central rigid hub and a flexible beam as its appendage is driven to rotate by a momentum wheel. After the mathematical model and the corresponding transfer matrix are derived, the transfer function from the command to the flexible component response, the tracking error and the control signal is imported into the cost function, and then this synthesis problem is translated into a H∞ optimization frame. Without any additional actuators, the resultant controller could track the angular displacement command rapidly and excite even less flexible vibration. Finally, a numerical simulation and its results are given in details, which validate the effectiveness of the approach proposed.