Intelligent tensegrity structure vibration multi-level distributed model prediction control method based on substructure technology

Abstract

The invention discloses an intelligent tensegrity structure vibration multi-level distributed model prediction control method based on a substructure technology. The method comprises the following steps: S1, building an intelligent tensegrity structure distributed model prediction control system; S2, based on the substructure technology, decomposing the intelligent tensegrity structure distributedmodel prediction control system into a series of multi-level subsystems; S3, selecting substructure systems at different levels, and independently designing corresponding local subcontrollers; S4, considering input saturation constraints, and converting the original distributed model prediction control problem into a series of linear complementary problems; and S5, solving the linear complementary problem in the step S4, and obtaining input voltage of each subcontroller as well as controlled dynamic response. Compared with existing distributed model prediction control, the method disclosed bythe invention is based on the substructure technology, a decomposition modeling process on the whole structure system is more flexible and simpler, and the method has a uniform multilevel distributedframework.

Description

technical field [0001] The invention relates to the technical field of vibration control and analysis of tensioned integral structures, in particular to a multi-level distributed model prediction control method for the vibration of an intelligent tensioned integral structure based on substructure technology. Background technique [0002] As early as the 1960s, the American scholar Fuller proposed the concept of "tensegrity (Tensegrity)", the tensegrity structure is a kind of spatial network active structure in a state of self-stress. Components interact to maintain a stable working state. Due to the high strength-to-mass ratio, good self-adaptability, and low control energy consumption of the tensegrity structural system, the dynamic analysis and control research of this type of structural system has become an important field in civil engineering, machinery, and aerospace. and other cutting-edge hot issues in the field of practical engineering. [0003] In the actual appli...

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Problems solved by technology

This method integrates substructure technology and distributed control ideas to solve the vibration control problem of intelligent tensegrity structures considering input saturation constraints. Flexible decomposition of the overall structural system, and a more reasonable selection of actuator layout schemes and different levels of predictive models

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