数据驱动的结构振动鲁棒控制策略研究

Study on data-driven robust control strategy for structural vibration

振动控制工程中实际结构模型复杂,难以通过机理建模构建振动控制系统。提出基于数据驱动的子空间辨识和H_(∞)鲁棒控制构建结构振动抑制策略。根据实际被控系统所遭受的外扰以及作动器、传感器的布置情况,首先,确立出被控系统的扰动、控制输入和量测输出等参数;接着,分别对系统施加扰动力和主动作动力并采集此时系统的输入和响应数据;然后,根据采集到的输入输出的数据,运用子空间辨识法得到扰动、输入与输出间的传递函数;最后,通过H_(∞)鲁棒控制理论将得到的传递函数进行组装构建出系统的广义控制对象,并求解出了系统的反馈控制器。并以一多自由度箭载载荷隔振模型为例,建立系统的动力学方程,并通过该系统的仿真数据重构系统的传递函数模型,结果表明通过将重构的广义模型所求解出的反馈控制器代入原系统后,扰动到控制输出间的传递率在谐振峰区间相比原系统得到极大的降低;时域上,在外界扰动下反馈控制系统相比无控系统其稳态响应的幅值大大降低,系统在外扰下的动态指标都得到极大改善。

The actual structural model in vibration control engineering is complex,it is difficult to construct a vibration control system with mechanism modeling.Here,a structural vibration suppression strategy based on data-driven subspace identification and H_(∞) robust control was proposed.According to external disturbances exerted on the actual controlled system and arrangement of actuators and sensors,firstly,parameters of disturbance,control input,and measured output of the controlled system were established.Then,disturbance forces and active driving forces were exerted on the system respectively,and this moment inputs and response data of the system were collected.Once again,according to the collected input and output data,the subspace identification method was used to obtain transfer functions among disturbance,input and output.Finally,transfer functions obtained were assembled using H_(∞) robust control theory to construct the generalized control object of the system,and the feedback controller of the system was solved.Taking a multi-DOF rocket payload vibration isolation model as an example,the system’s dynamic equation was established,and the transfer function model of the system was reconstructed with simulation data of the system.The results showed that by introducing the feedback controller solved with the reconstructed generalized model into the original system,the transmissibility between disturbance and control output is greatly reduced within the resonance peak range compared to the original system;in time domain,under external disturbances,the steady-state response amplitude of the feedback control system is significantly reduced compared to the uncontrolled system,and dynamic indexes of the system under external disturbances are greatly improved.