基于MCS算法的振动主动控制时滞补偿

Research on time-delay compensator for active vibration control based on MCS algorithm

针对振动主动控制中时滞会引起最小控制合成算法失稳问题,提出在传统的最小控制合成算法(MCS)的基础上,应用smith预估器时滞补偿原理,在MCS算法中添加时滞补偿因子,构建一种改进的具有时延补偿的MCS算法。选取工业生产中常见的受控机械臂结构进行建模和仿真。结果表明,改进的MCS算法克服了振动主动控制策略中时滞失稳问题,具有较好的时滞补偿控制效果。

The minimal control synthesis （MCS） algorithm is a kind of self-adaptive control algorithm, which has been widely used in automatic control field because of simple calculation, intuitive structure, good non-linear ability and the ability against anti- interference. In order to solve the problem of time-delay of vibration active control, which may cause the algorithm＇s instability problem, a time delay compensation factor is designed for improving the traditional MCS algorithm on the basis of the Smith predictor using the time-delay compensation principle. Then a controlled manipulator commonly used in industrial production is chosen for building the dynamic model and simulation Study. The resUlt shows that the improved MCS algorithm can not only overcome the problem of delaying buckling in an active vibration control strategy, but also has a good effect of delaying compensation control.