新型电磁振动台低频振动控制研究

Modified Repetitive Control for Novel Electromagnetic Vibration Tables

针对新型电磁振动台5 Hz以下复杂的磁滞非线性问题,设计基于磁滞非线性分解的改进型重复控制器。磁滞非线性对系统的影响在周期性信号输入下可分解为一个线性增益和一个有界的周期性干扰。在此基础上,辨识系统动力学模型,针对线性部分设计PI控制器。针对系统非线性部分设计改进型重复控制器,有效抑制了周期性干扰,同时,避免了复杂的磁滞建模过程。选频滤波器的引入改善了传统重复控制器对非倍频周期性干扰放大的问题。实验结果表明,改进型重复控制器有效改善了新型电磁振动台的低频输出波形。

To solve the problem of complex hysteresis nonlinearity of a novel electromagnetic vibration table below 5 Hz frequency, a modified repetitive controller based on the hysteresis decomposition is designed. The hysteresis nonlinearity can be decomposed into a linear gain and a bounded-periodic disturbance for periodic signal input. Then, the PI controller is designed to control the linear system, and the modified repetitive controller is designed to handle the hysteresis nonlinearity.In this way, the periodical disturbance is effectively suppressed and the complex hysteresis modeling is avoided. The spectrum-selection filter is applied to alleviate the amplification of the non-frequency-doubling periodical disturbance. The experimental results show that the modified repetitive controller can effectively improve the output waveforms of the novel electromagnetic vibration table when the frequency is below 5 Hz.