主动转动惯量驱动系统用于悬吊结构摆振控制的方法研究(Ⅰ):理论建模和试验验证

Structural pendulum vibration control methods based on Active Rotary Inertia Driver(ARID)system(Ⅰ):Theoretical modeling and experimental verification

提出了主动转动惯量驱动控制系统(Active Rotary Inertia Driver,ARID),该系统通过伺服电机驱动转动惯性质量的回转运动,从而产生抑制结构摆振的力矩。首先针对ARID控制系统,基于拉格朗日原理建立了平面内悬吊结构在吊点激励下运动控制的分析模型,基于分析模型进行主动控制LQR算法系统匹配推导,然后利用Simulink对ARID系统控制效果进行了数值模拟计算,并通过与TRID装置对比,对ARID系统的有效性进行了分析。最后设计了ARID振动台试验系统,对结构的控制效果进行了试验验证。试验结果验证了理论建模和主动控制LQR算法与系统匹配的合理性,表明ARID系统对悬吊结构摆振控制具有很好的控制作用,理论建模和试验验证为ARID系统的深入研究和应用奠定了理论基础。

The traditional TMD and AMD are ineffective for the vibration control of pendulum vibration swing motion.And the Tuned Rotary Inertia Damper(TRID)has low robustness and small application range.Active Rotary Inertia Driver(ARID)is proposed in this paper.It generates the moment of restraining the structure swing by the motor driving the inertia rotating.First,for the ARID control system,the in-plane swing pendular structures subjected to point source excitation with ARID analysis model are established based on Lagrangian principles.And the equation is linearized.The control algorithm is designed based on LQR.Then the effectiveness analysis of ARID is done using Simulink based on motion equations.The analysis results are compared with the TRID.Lastly,a shaking-table experiment system is designed to validate the effectiveness of ARID system.The research results of the paper establish theoretical foundation for deeper research of ARID system.