双柔性梁振动激光视觉测量与自适应协同控制

Laser vision measurement and adaptive cooperative vibration control of double flexible beams

双柔性梁耦合结构常用于航天领域,如太阳翼伸展结构、太阳能电池阵等。针对双柔性耦合梁系统振动非接触测量和控制问题,构建了基于点激光结构光视觉系统的测控实验平台,进行了点激光视觉振动测量研究和振动控制算法设计。对点激光视觉系统进行标定,通过图像处理结合几何方法提取了柔性梁的振动信号。建立了系统动力学模型,采用小波变换和优化方法辨识状态空间方程参数。设计了直接自适应模糊协同控制器(Direct Adaptive Fuzzy Cooperative Controller,DAFC)进行双柔性梁系统的振动主动控制,采用羚羊优化算法基于辨识模型优化控制器参数。在双柔性耦合梁系统固定和平移运动两种情况下,进行了振动视觉检测和控制实验研究。实验结果表明:所设计的点激光视觉传感器有较好的振动测量精度,DAFC控制器相比于PD控制器有更好的控制效果,可以更加快速地抑制双柔性耦合梁的振动。

Double-flexible-beam-coupling structures are widely used in the aerospace field,such as in solar-wing-extension structures and solar-cell arrays.However,non-contact vibration measurements and system control are some issues associated with double-flexible-coupled-beam systems.To address these,herein,a measurement and control experimental platform based on a point-laser-structured-light-vision system was constructed,and point-laser-visual-vibration-measurement research and vibration-control-algorithm design were conducted.The point-laser-vision system was calibrated,and the vibration signal of the flexible beam was extracted via image processing combined with a geometric method.The system-dynamics model was established,and the parameters of the state-space equation were identified using a wavelet transform and optimization method.A direct adaptive fuzzy cooperative(DAFC)controller was designed to actively control the vibration of the double-flexible-beam system,and the Gazelle optimization algorithm was used to optimize the controller parameters based on the identification model.Visual-vibration detection and control experiments were conducted under fixed and translational motions of the double-flexible-coupled-beam system.The experimental results revealed that the designed point-laser-vision sensor demonstrated an improved vibration-measurement accuracy,and the DAFC controller exhibited a better control effect than the proportional derivative controller,as the former could suppress the vibrations of the double-flexible-coupling beam more rapidly.