基于位移反馈控制的主动增加时滞补偿方法及其试验验证

Time delay compensation method based on displacement feedback and active increasing of time delays and its experimental verification

时滞是结构振动主动控制系统中普遍存在的现象,时滞不仅会降低控制系统的性能,严重时会造成系统失稳、控制发散。针对此问题,研究以下三方面内容:首先基于单自由度系统时滞的稳定性理论分析,确定系统最大允许时滞量的解析解,该阈值可以作为确定何时应用时滞补偿技术的一个评判指标;其次,当作动器实际时滞量大于最大允许时滞量时,常规时滞补偿方法将会失效,提出了基于位移反馈的主动增加时滞的补偿新方法,并定性结合定量详细分析了主动控制算法的参数影响规律;最后,以单层剪切型框架结构为被控对象,进行了多种输入激励下基于位移反馈的主动增加时滞补偿试验验证。大量仿真分析和试验结果表明所提方法能够在保证系统稳定性的同时获得一定可观的控制效果。

Time delay may degrade the performance of control system and induce instability to the system.In view of this practical problem,the stability of a SDOF system with time delayed feedback was analysed.The purpose is to find an analytic solution of the maximum allowable time delay which can be used as a criterion for deciding the need of time delay compensation.A technique of compensation with active increasing of time delay was presented,when the actual time delay exceeds the maximum allowable value.The experimental study on the compensation with active increasing of time delay based on displacement feedback was carried out.The numerical simulations and experimental results demonstrate that the presented time delay compensation control algorithm is effective in reducing the maximum response of systems while the system stability can be guaranteed.