基于压电智能结构状态估计误差补偿的自抗扰振动控制

Active Disturbance Rejection Controller Based on State Estimation Error Compensation for Smart Piezoelectric Structure

压电智能结构的模型难以精确建立,且存在外界环境激励干扰和内部参数不确定等问题,从而影响闭环结构的振动控制性能。基于此,将结构的内部干扰和外界激励的影响归结为系统的集总干扰,并利用扩张状态观测器(Extended state observer,ESO)设计不依赖于模型的自抗扰振动控制器。然而当外界扰动激励变化时,扩张状态观测器对扰动和各阶状态的估计不可避免存在偏差,难以保证振动控制的效果。为克服二阶自抗扰策略在振动主动控制中的不足,提出一种基于压电智能板结构的状态估计误差补偿自抗扰振动控制方案。利用状态观测误差信息,对二阶自抗扰控制器进行补偿,从而减小ESO对扰动和各阶状态估计的压力,提高振动控制效果。利用dSPACE实时仿真系统,搭建四面固支压电智能板结构的振动主动试验平台。四种干扰激励的试验结果验证该方法的有效性、实用性和强抗干扰能力。

There are a variety of uncertainties,e.g.,model uncertainty,unknown external excitation and variety of internal parameters in the smart material structures,which have a great influence on the vibration control performance of the closed-loop system.Therefore,the model-independent active disturbance rejection vibration control（ADRVC） based on the extended state observer（ESO） is designed,considering the internal disturbances and environment excitation as lumped disturbances.But it is inevitable that the ESO has the estimation errors of the disturbances and states while the disturbances change,which can degrade the effects of the vibration control.In order to overcome the weakness of the original second order active disturbance rejection control（ADRC） for the active vibration control,an active disturbance rejection controller based on state estimation error compensation for the smart piezoelectric structure is proposed.The estimation error of the disturbances and states of the ESO is used to compensate the ADRC to reduce the disturbances and states estimation burden of the ESO and to improve the effects of the active vibration control.In order to verify the proposed algorithm,the dSPACE real-time simulation platform is used and an experimental platform for the all-clamped panel smart piezoelectric structure active vibration control is set up.The experiment results with four situations demonstrate the effectiveness,practicality and strong anti-disturbance ability of the proposed control strategy.