智能杆致动器优化配置及扭振主动控制试验

Intelligent Actuator Placement and Active Torsional Vibration Control Experiment on a Circular Tube

针对智能杆系统中压电扭转致动器的优化配置问题,提出了一种由柔性薄壁杆、压电扭转致动器和电阻应变片传感器组成的智能杆系统,对智能杆的扭转振动进行了理论与试验研究。采用拉格朗日方程和假设模态法推导了智能杆系统的动力学方程,建立了系统的状态空间表达式。选取控制器的最小输入能量作为致动器位置配置的优化准则,运用遗传算法获得了压电扭转致动器的最佳配置位置,并构建了试验系统。试验结果表明,获得的最优位置是合理的,将致动器配置在最优位置并实施相应的应变反馈控制,控制器的输入能量最小,智能杆的扭转振动能得到有效抑制。

An intelligent circular tube system is proposed.The system is composed of a thin-walled cantilever circular tube with an equivalent disk at its free end,a piezoelectric torsional actuator and a strain gauge sensor.The torsional vibration of the system is investigated theoretically and experimentally.In consideration of the optimization of piezoelectric torsional actuator of the intelligent system,dynamic equations of the system are derived using the Lagrange equation and the assumed mode method.The state-space expression of the dynamic system is developed.The minimum input energy of the controller is chosen as the actuator optimization criterion.Optimal position of the piezoelectric torsional actuator is obtained using Genetic Algorithm.The obtained optimal position is reasonable.An experimental system is established.When the actuator is placed to the optimal position and the strain feedback control is implemented,the torsional vibration of the tube is suppressed effectively.