准零刚度隔振系统吸引子迁移控制优化研究

Research on Attractor Migration Control Optimization of Quasi Zero Stiffness Vibration Isolation System

准零刚度隔振系统属于非线性系统,存在多吸引子共存的现象,不同吸引子之间振幅相差较大,初始条件的改变可能会使系统从小振幅吸引子跳跃到大振幅吸引子上,施加迁移控制算法前需要对吸引子的吸引域进行分析,无法实时的对系统进行控制.文中针对此问题,对迁移控制算法进行优化.构建小吸引子参考模型,通过比较实际输出和参考输出相图的重合程度来判断是否属于同一吸引子,进而决定是否施加控制,实现在任意初始条件下,系统最终都能运行于振幅最小、隔振效果最好的运动状态.结果表明:原本处于大振幅运动状态的吸引子最终运行在小振幅的吸引子上,而原本处于小振幅运动状态的吸引子则保持不变,实现了小振幅吸引子的自适应控制.

Quasi zero stiffness vibration isolation system is a nonlinear system,and there is the coexistence of multiple attractors.The amplitudes of different attractors are quite different,and the change of initial conditions may cause the system to jump from a small amplitude attractor to a large amplitude attractor.Before applying the migration control algorithm,the attractor’s attraction domain needs to be analyzed,so the system cannot be controlled in real time.Aiming at this problem,this paper optimized the migration control algorithm.A small attractor reference model was built,and whether it belongs to the same attractor was judged by comparing the coincidence degree of the actual output phase diagram with the reference output phase diagram,and then it was decided whether to apply control,so that the system can finally run in the motion state with the smallest amplitude and the best vibration isolation effect under any initial conditions.The results show that the attractor with large amplitude motion finally runs on the attractor with small amplitude,while the attractor with small amplitude motion remains unchanged,thus realizing the adaptive control of the attractor with small amplitude.