Cantilever beam vibration control method adaptive to H-infinite control

Abstract

The invention discloses a cantilever beam vibration control method adaptive to H-infinite control, and is applied to cantilever beam vibration control. The method comprises the following steps: 1, establishing a model of a cantilever beam; 2, establishing a self-adaptive controller, and taking control output of the self-adaptive controller as control input of a cantilever beam system; and 3, based on a Lyapunov stability theory, establishing an adaptive law so as to ensure the system stability. The controller is composed of two parts, one part employs the self-adaptive controller to approach ideal control input of the cantilever beam system, and the other part employs an H-infinite robust controller to improve the robustness of the system for uncertainties and external interference. According to the invention, parameters of the controller can be adjusted in real time due to external interference uncertainties, and a given reference locus is accurately tracked, and tracking errors are rapidly convergent to be zero; and the controller designed based on a Riccati-like equation can effectively eliminate the influence exerted by system nonlinearity on locus tracking, can realize satisfying tracking performance of the cantilever beam system, and at the same time, improves the system robustness and reliability.

Description

technical field [0001] The present invention relates to a control method of a cantilever beam, in particular to a control method based on adaptive H ∞ Controlled Cantilever Beam Vibration Control Method. Background technique [0002] A cantilever beam means that one end of the beam is a fixed support that does not produce axial, vertical displacement and rotation, and the other end is a free end (which can generate forces parallel to and perpendicular to the axial direction). In the force analysis of engineering mechanics, it is a typical simplified model. In actual engineering analysis, most of the actual engineering stress components can be simplified as cantilever beams. [0003] With the rapid development of science and technology, the rapid development of aerospace technology and the increasing scale of space activities, the requirements for aerospace technology and space structures are becoming more and more stringent. A large number of space structures, such as larg...

AI Technical Summary

Problems solved by technology

These realize the trajectory control of the cantilever beam, but the robustness of adaptive control to external disturbances is very low, and it is easy to make the system unstable

[0006] It can be seen that the vibration control of the cantilever beam obviously still has inconvenience and defects, and it is urgent to be further improved.

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