Control method and system for suppressing global mechanical resonance

Abstract

The invention provides a control method for inhibiting global mechanical resonance, and the method comprises the steps: S1, building a controlled object system which comprises a controlled mechanicalstructure, a motor and a sensing device, and the motor and the sensing device are arranged on the controlled mechanical structure; S2, obtaining a corresponding finite element model through the three-dimensional model of the controlled mechanical structure; S3, establishing a mathematical model (1) for describing finite element node vibration; S4, obtaining a mathematical model (2) under modal coordinates; S5, establishing a state space model (3) of each modal decoupling; S6, obtaining a transfer function matrix model (5); S7, defining a space H2 norm; S8, for the system described in the formula (5), calculating an equivalent system of the system in the sense of a space H2 norm; S9, designing an optimal controller under the space H2 norm to obtain a controller capable of performing globalvibration suppression; and S10, applying the optimal controller to a controlled mechanical structure for global vibration suppression.

Description

technical field [0001] The invention relates to automatic control theory, in particular to a control method and system for suppressing global mechanical resonance. Background technique [0002] Mechanical systems are widely used in various industrial and high-tech fields, such as various mechatronic industrial equipment, aerospace vehicles, bridge construction, etc. However, the inherent resonance phenomena of mechanical systems limit the further development of their applications. For example, in precision motion systems, mechanical resonances limit further improvements in precision; resonances in solar panels on spacecraft and aircraft wings can have damaging results. Using the motor and sensing device to actively control the mechanical resonance can reduce or even eliminate the influence of the mechanical resonance on the system. At present, the main methods of active control of mechanical resonance are focused on: using a vibration sensing device to measure the vibratio...

AI Technical Summary

Problems solved by technology

Mechanical resonance exists in every position of the system, but this method can only ensure that the vibration of the system at the position of the sensing device is suppressed, and it is helpless for vibrations that cannot be observed by the sensing device

At the same time, the position of the disturbance will change during the operation of the system. The current methods do not consider the robustness of the system to the change of the disturbance position.

[0003] In summary, the currently proposed methods cannot address the suppression of global mechanical resonances

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