中心刚体-柔性梁系统的旋转运动控制

中心刚体-柔性梁系统是一个典型的刚柔耦合动力学系统,对其动力学与控制的研究一直是国内外的研究热点问题之一。采用一次近似简化模型对中心刚体-柔性梁系统的旋转运动控制进行研究,其中控制律采用变结构控制方法进行设计。切换面的设计采用最优化方法而得出,控制律的设计采用指数趋近律方法。因为所设计的控制律是模态坐标的函数,而模态坐标不可能通过物理测量直接获得,因此给出一个从物理测量中提取模态坐标的滤波器方法。数值仿真结果显示,模态滤波器能够较好地提取出控制律所需的模态坐标;变结构控制能够使得系统达到所期望的运动状态,并可使柔性梁的残余振动得到抑制。

Active Control of Rotation Motion of a Flexible Hub-Beam System

Flexible hub-beam system is a typical rigid-flexible coupling dynamic system. Dynamics modelling and control study for this system are the two research topics which get many attentions all the time. In this paper, a simplified first-order approximation model was applied for active control of rotation motion of a flexible hub-beam system, where active controller was designed using variable structure control (VSC) method. The switching surface was obtained by using the optimal method and the controller was designed by using the method of exponential approach law. Since the controller designed was a function of modal coordinate and modal coordinate can not be obtained directly from physical sensor measurements, a modal filter was presented in this paper to estimate the modal coordinates from physical sensor measurements. Simulation results indicate that the modal filter presented is effective to extract the required modal coordinate from physical sensor measurements. The desired motion of the system may be obtained by using the VSC controller and additional vibration of the flexible beam may be repressed by this controller too.