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一种基于分数阶滤波器的新型分段频率控制策略，用于协调支撑系统的隔振与定位

A Novel Piecewise Frequency Control Strategy Based on Fractional-Order Filter for Coordinating Vibration Isolation and Positioning of Supporting System.

作者信息

Tao Yeying, Jiang Wei, Han Bin, Li Xiaoqing, Luo Ying, Zeng Lizhan

机构信息

State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China.

出版信息

Sensors (Basel). 2020 Sep 16;20(18):5307. doi: 10.3390/s20185307.

DOI:10.3390/s20185307
PMID:32948047
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7571140/
Abstract

A piecewise frequency control (PFC) strategy is proposed in this paper for coordinating vibration isolation and positioning of supporting systems under complex disturbance conditions, such as direct and external disturbances. This control strategy is applied in an active-passive parallel supporting system, where relative positioning feedback for positioning and absolute velocity feedback for active vibration isolation. The analysis of vibration and deformation transmissibility shows that vibration control increases low-frequency position error while positioning control amplifies high-frequency vibration amplitude. To overcome this contradiction across the whole control bandwidth, a pair of Fractional-Order Filters (FOFs) is adopted in the PFC system, which increases the flexibility in the PFC design by introducing fraction orders. The system stability analysis indicates that the FOFs can provide a better stability margin than the Integral-Order Filters (IOFs), so the control gains are increased to get a better performance on the AVI and positioning. The PFC based on FOFs can suppress the peak amplitude at the natural frequency which cannot be avoided when using the IOFs. The constrained nonlinear multivariable function is formed by the required performance and the stability of the system, then the controller parameters are optimized effectively. Lastly, the effectiveness of the proposed method is verified by experiments.

摘要

本文提出了一种分段频率控制（PFC）策略，用于在诸如直接干扰和外部干扰等复杂干扰条件下协调支撑系统的隔振和定位。该控制策略应用于主动-被动并联支撑系统，其中采用相对位置反馈进行定位，采用绝对速度反馈进行主动隔振。振动和变形传递率分析表明，振动控制会增加低频位置误差，而定位控制会放大高频振动幅度。为了在整个控制带宽内克服这一矛盾，PFC系统中采用了一对分数阶滤波器（FOF），通过引入分数阶增加了PFC设计的灵活性。系统稳定性分析表明，FOF比整数阶滤波器（IOF）能提供更好的稳定裕度，因此增加控制增益以在主动隔振和定位方面获得更好的性能。基于FOF的PFC可以抑制固有频率处的峰值幅度，而使用IOF时这是无法避免的。由系统所需性能和稳定性构成约束非线性多变量函数，进而有效优化控制器参数。最后，通过实验验证了所提方法的有效性。

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