电磁式惯性型作动器的闭环控制策略与性能试验

Closed-loop control strategies and dynamical tests of the electromagnetic mass damper control system

针对电磁驱动AM D控制系统在开环控制模式下性能试验存在的问题,提出利用位置和速度反馈的闭环控制策略进行系统性能测试,从而可以研究系统在低频和大位移控制下的动态工作性能。首先借鉴运动伺服控制方法,把电磁驱动AM D控制系统的力-电关系模型转换成系统运动方程。其次类比于旋转电机并结合量纲分析方法,建立电磁驱动AM D控制系统闭环控制算法参数的理论计算公式,通过试验验证了公式及算法参数的准确性。最后分别进行正弦位移和阶跃位移控制下系统的闭环性能试验,实测结果表明电磁驱动AM D控制系统是一种响应迅速、线性性能良好的结构振动主动控制系统,基于试验结果与理论模型预测结果的比较,再次证实了系统力-电关系计算模型的正确性。

In order to overcome several problems aroused in the open-loop dynamical tests, the closed-loop control strategy which uses position feedback and velocity feedback for the performance test of the electromagnetic mass damper （EMD） control system has been put forward, thus the performance of EMD system under low frequencies and large strokes can be studied. Firstly, based on common methods used in motion control field, the electro-mechanical model of the EMD system was unified to the motion equation of the system. Then, through dimensional analysis and compared with rotating motors, the theoretical formulations and gain parameters for the closed-loop control strategy was developed and validated through standard motion servo experiments. At last, series of dynamical tests under sine displacement position control and unit step displacement input were carried out, and the results showed the fast response property of the EMD system, and from the results the EMD was shown to be almost linear characteristics. Based on the comparison between experimental results with model predications, the proposed electro-mechanical model was verified again.