Active control method and system for controlling MFC drive based on MCS algorithm

Abstract

The present invention provides an active control method and system for controlling MFC drive based on MCS algorithm, the method comprising the following steps: using a system identification method to identify the state space equation of a controlled structure system; building an adaptive minimum control synthesis MCS algorithm, taking an earthquake energy reduction model as a reference model, substituting the identified state space equation into the MCS algorithm; building a state observer, converting the acceleration signal measured by a sensor into a structural state, calculating an error Xe, and driving the MCS algorithm for adaptive control; calculating a control force U(t) and converting it into a voltage to apply to an MFC drive sheet to act on the controlled structure system, thereby reducing the vibration response of the controlled structure system. The present invention applies the control voltage calculated by MCS to MFC, utilizes the inverse piezoelectric effect of MFC to reduce the vibration of the controlled structure, and makes the vibration response of the controlled structure gradually approach the reference model, thereby achieving the target vibration reduction effect.

Description

Technical Field

[0001] The present invention relates to the technical field of structural engineering and automatic control engineering, and in particular, to an active control method and control system for structural vibration control, and specifically, to an active control method and system for controlling MFC drive based on MCS algorithm. Background Art

[0002] Mechanical vibration is a negative factor in the structural system. Its existence will accelerate the fatigue and damage of the structure, shorten the service life of the device and mechanical system, and affect the precision of the instrument. The noise caused by vibration will affect people's physical and mental health and work efficiency. Therefore, the vibration problem is an urgent problem to be solved in the current industrial and human social development. At present, the relevant research on vibration control has developed rapidly in the past decade, and has been continuously applied in practice, achieving good results.

[0003] Active control, as a type of modern control technology, has also developed rapidly in recent years. Piezoelectric materials have always been the first choice for active vibration control due to their sensitive actuation performance and electrically controllable working mechanism. Their fast response speed, light weight and sensitive reaction make them particularly suitable for active control.

[0004] However, general active control algorithms need to obtain accurate model parameters of the control structure. For example, in the field of civil engineering, building materials such as concrete and wood have strong nonlinearity and are prone to structural damage under excessive external loads such as earthquakes and strong winds, making the nonlinear characteristics of the structure very significant. When designing control systems for actual structures, the nonlinear characteristics of the system caused by the environment and raw materials and the randomness of disturbances make the controlled structural system instability due to unpredictable changes. Summary of the invention

[0005] In view of this, the purpose of the present invention is to design a structural vibration and noise reduction control scheme, and improve and optimize the original scheme according to the engineering requirements of the actual structure, automatically compensate for the instability of the controlled system due to unpredictable changes, and is suitable for structural systems with known structures but uncertain parameters; the algorithm in the scheme is used to control the MFC drive plate, so that the structural vibration and noise reduction control effect in actual engineering is better.

[0006] When designing a control system for an actual structure, it is necessary to consider the nonlinear characteristics of the system and the randomness of disturbances caused by the environment and raw materials. Therefore, when designing a control system, it is necessary to consider the nonlinearity of the system and the randomness of disturbances caused by the environment and raw materials. Therefore, the present invention adopts the minimum control synthesis algorithm (MCS). The MCS algorithm is an improvement in the adaptive control algorithm. It can automatically compensate for the instability of the controlled system caused by unpredictable changes, and does not need to obtain the precise parameters of the structure in advance. The MCS algorithm is used to control the MFC driver, which is very suitable for systems with known structures but undetermined parameters and can ensure good control effects.

[0007] The present invention utilizes the characteristics of macro fiber composite material (MFC) such as light weight, high sensitivity, and easy pasting, and combines it with the minimum composite control algorithm (MCS) in the adaptive control algorithm to form a new structural active control system. The control system does not require an accurate parameter model of the controlled structure, and can still maintain a good control effect when the controlled structure undergoes nonlinear parameter changes. The MFC can be pasted to various parts of the controlled structure, and also has a very good control effect on reducing the local vibration of the controlled structure.

[0008] The present invention adopts a system identification method to identify the transfer function of the controlled structure and converts the transfer function into a state space equation of the system;

[0009] Build a minimum control synthesis algorithm, use the earthquake energy reduction model as the reference model, substitute the identified state space parameters into the MCS algorithm, use the signals transmitted by the force sensor and state observer as the system's feedforward and feedback, and build a closed-loop control system for the controlled structure;

[0010] The control voltage calculated by MCS is applied to MFC, and the "inverse piezoelectric effect" of MFC is used to reduce the vibration of the controlled structure, so that the vibration response of the controlled structure gradually approaches the reference model, achieving the target vibration reduction effect.

[0011] The present invention provides an active control method for controlling MFC drive based on MCS algorithm, comprising the following steps:

[0012] S1: Fix the structural system, use the exciter to stimulate the structural system to vibrate, connect the force sensor to the exciter, connect the controlled structure to the MFC driver and the acceleration sensor, connect the MFC driver to the high-voltage amplifier, and the high-voltage amplifier provides the voltage required for MFC driving. Use the system identification method to identify the state space equation of the controlled structural system;

[0013] S2: Paste the MFC actuator on the controlled structure, build the adaptive minimum control synthesis MCS algorithm, use the earthquake energy reduction model as the reference model, and substitute the identified state space equations into the MCS algorithm;

[0014] S3: Build a state observer, use the signals transmitted by the force sensor and the state observer as the feedforward and feedback of the structural system, convert the acceleration signal measured by the sensor into the structural state, calculate the error Xe, and drive the MCS algorithm for adaptive control;

[0015] S4: The control force U(t) is calculated by the MCS algorithm, and the control force U(t) is converted into a voltage and applied to the MFC drive plate to act on the controlled structure system to reduce the vibration response of the controlled structure system.

[0016] Furthermore, the method of identifying the state space equation of the controlled structural system by using the system identification method in step S1 includes:

[0017] Using the system identification toolbox in MATLAB, the signal collected by the force sensor and the output of the MFC driver are used as the excitation force to apply to the force signal of the structural system as input, and the signal collected by the acceleration sensor is used as input. According to the maximum output of the MFC driver and the target control effect, the earthquake acceleration time history is multiplied by the reduction factor K d =0.6, the expression of reference input r(t) is:

[0018] r(t)=K d d(t), identify the transfer function of the controlled structural system with an accuracy greater than 90%, and then transform the transfer function into the state space equation of the structural system as the motion characteristic of the controlled structural system.

[0019] Furthermore, the method of constructing an adaptive minimum control synthesis MCS algorithm in step S2 includes:

[0020] A minimum control synthesis algorithm framework is constructed, and the state space equations containing the controlled structural parameters are substituted into the minimum control synthesis algorithm framework; the construction of the minimum control synthesis algorithm framework is divided into three parts: a controlled model, a reference model, and an uncontrolled model, wherein the reference model uses an earthquake energy reduction model, and the uncontrolled model is used as a comparison of the vibration reduction effect; the control force U(t) under the MCS algorithm is calculated, and then the control force U(t) is applied to the controlled model; the state of the structural system is detected by sensors and state observers, and the error is obtained, thereby forming a closed-loop control to reduce the vibration response of the controlled structure in real time.

[0021] Furthermore, the method of substituting the identified state space equation into the MCS algorithm in step S2 includes:

[0022] The driving force that MFC should apply to the structural system is calculated, and the relationship between the output force and voltage in the long side direction is obtained according to the actuation equation of the macro-fiber composite flat plate structure (the short side direction can be ignored):

[0023] F x = k*V;

[0024] Where k is a coefficient related to the size and material properties of the controlled structural system, and the output F of the MFC is x It is linearly related to the voltage V provided, converting the control force into voltage and applying it to the MFC to control the driving force output by the MFC on the controlled structural system.

[0025] Furthermore, the method of building a state observer in step S3 includes:

[0026] With input u and output y as the input of the state observer, the feedback gain matrix K is obtained by the pole configuration method, and the estimated value is adjusted by adjusting the parameters of the state observer. As the speed approaches x, we get Substituting x as the state of the structural system, calculate x e =x m (txt);

[0027] Because relying solely on the acceleration sensor can only observe the acceleration response of the structure, it is impossible to obtain the state x(t) of the structural system movement, and it is necessary to calculate the error value x based on the state of the structural system. e To drive the MCS algorithm, a state observer needs to be introduced.

[0028] Furthermore, the method of calculating the control force U(t) by using the MCS algorithm in step S4 includes:

[0029] Build an adaptive minimum control synthesis MCS algorithm in matlab / simulink and convert the state of the reference model (target output response) x m (t) is subtracted from the state x(t) of the controlled model to obtain the error value xe(t). The feedforward gain K is calculated by the MCS algorithm driven by xe(t) r and feedback gain K, and then use the formula U(t) = K r r(t)+Kx(t) calculates the control force U(t).

[0030] Furthermore, the method of converting the control force U(t) into a voltage and applying it to the MFC driving plate to act on the controlled structural system in step S4 includes:

[0031] According to the output characteristics and layout of MFC, the actuator position matrix Bs is calculated, and then Bs is converted into the matrix B under the mode and substituted into the MCS algorithm. The control force U(t) calculated by the MCS algorithm is the optimal driving force that the MFC should output. The feedforward gain in the MCS algorithm is given by the formula:

[0032] Calculated;

[0033] The feedback gain is given by the formula:

[0034] Calculated;

[0035] Among them, the proportional factors α and β are 10 times, 1 times or 1 / 10 times, y e is the system error output signal, τ is the integral variable, T is the matrix transpose, X is the state response, and r is the external excitation.

[0036] The present invention also provides an active control system for controlling MFC drive based on MCS algorithm, and the active control method for controlling MFC drive based on MCS algorithm as described above is executed, including:

[0037] State space equation conversion module: uses system identification method to identify the state space equation of the controlled structural system;

[0038] Build the MCS algorithm module: used to build the adaptive minimum control synthesis MCS algorithm, using the earthquake energy reduction model as the reference model and substituting the identified state space equations into the MCS algorithm;

[0039] Build a state observer module: It is used to use the signals transmitted by the force sensor and the state observer as the feedforward and feedback of the structural system, convert the acceleration signal measured by the sensor into the structural state, calculate the error Xe, and drive the MCS algorithm for adaptive control;

[0040] Control force module: used to calculate the control force U(t) through the MCS algorithm, convert the control force U(t) into voltage and apply it to the MFC drive plate to act on the controlled structure system, thereby reducing the vibration response of the controlled structure system.

[0041] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the active control method for controlling MFC drive based on the MCS algorithm are implemented.

[0042] The present invention also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the active control method for controlling MFC drive based on the MCS algorithm as described above are implemented.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention combines the minimum control synthesis algorithm MCS in the adaptive control algorithm with the macro-fiber composite material MFC, and converts the control force calculated by the MCS into a voltage applied to the MFC. The operation is simple, the principle is clear, and it is easy to implement, and it can act on any type of structural system. The macro-fiber composite material has the advantages of good driving performance, a wider working frequency band, light weight, fast response, no electromagnetic interference, low energy consumption, good electromechanical coupling characteristics, and easy control, and is particularly suitable for active control of lightweight structures. The adaptive algorithm does not require prior knowledge of the parameter information of the controlled system model, nor does it require advance calculation of the controller gain. It does not need to assume that the system parameters change slowly, and allows the parameters to change significantly. The ideal closed-loop effect can also be achieved when the controlled system parameters change, the system's internal dynamic affinity, external interference, and the system are nonlinear. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiment.The drawings are only for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the invention.

[0046] In the attached picture:

[0047] Figure 1 It is a flow chart of the active control method for controlling MFC drive based on MCS algorithm of the present invention;

[0048] Figure 2 A schematic diagram of the structure of a computer device according to an embodiment of the present invention;

[0049] Figure 3 This is a control workflow diagram of MFC in an embodiment of the present invention;

[0050] Figure 4 Schematic diagram of the MCS algorithm in an embodiment of the present invention;

[0051] Figure 5 Detailed diagram of the state observer in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and products consistent with some aspects of the present disclosure as detailed in the appended claims.

[0053] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0054] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0055] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0056] The embodiment of the present invention provides an active control method for controlling MFC drive based on MCS algorithm, see Figure 1 As shown, the following steps are included:

[0057] S1: Fix the structural system, use the exciter to stimulate the structural system to vibrate, connect the force sensor to the exciter, connect the controlled structure to the MFC driver and the acceleration sensor, connect the MFC driver to the high-voltage amplifier, and the high-voltage amplifier provides the voltage required for MFC driving. Use the system identification method to identify the state space equation of the controlled structural system;

[0058] In this embodiment, the system identification toolbox in MATLAB is used to apply the force signal of the structural system as the excitation force to the signal collected by the force sensor and the output of the MFC driver as the input, and the signal collected by the acceleration sensor as the input. According to the maximum output of the MFC driver and the target control effect, the earthquake acceleration time history is multiplied by the reduction coefficient K. d =0.6, the expression of reference input r(t) is:

[0059] r(t)=K d d(t), identify the transfer function of the controlled structural system with an accuracy greater than 90%, and then transform the transfer function into the state space equation of the structural system as the motion characteristic of the controlled structural system;

[0060] S2: Paste the MFC actuator on the controlled structure, build the adaptive minimum control synthesis MCS algorithm, use the earthquake energy reduction model as the reference model, and substitute the identified state space equations into the MCS algorithm;

[0061] In this embodiment, the characteristic of MFC being able to be pasted on a curved surface structure is utilized, and a number of MFCs of the same size are pasted on the locations where the controlled structure vibrates more;

[0062] The method for constructing an adaptive minimum control synthesis MCS algorithm comprises:

[0063] A minimum control synthesis algorithm framework is constructed, and the state space equation containing the controlled structural parameters is substituted into the minimum control synthesis algorithm framework; the construction of the minimum control synthesis algorithm framework is divided into three parts: a controlled model, a reference model, and an uncontrolled model, wherein the reference model uses an earthquake energy reduction model, and the uncontrolled model is used as a comparison of the vibration reduction effect; the control force U(t) is calculated under the MCS algorithm, and then the control force U(t) is applied to the controlled model; the state of the structural system is detected by the sensor and the state observer, and the error is obtained, thereby forming a closed-loop control to reduce the vibration response of the controlled structure in real time;

[0064] The method of substituting the identified state space equation into the MCS algorithm comprises:

[0065] The driving force that MFC should apply to the structural system is calculated, and the relationship between the output force and voltage in the long side direction is obtained according to the actuation equation of the macro-fiber composite flat plate structure (the short side direction can be ignored):

[0066] F x = k*V;

[0067] Where k is a coefficient related to the size and material properties of the controlled structural system, and the output F of the MFC is x It is linearly related to the voltage V provided, converting the control force into voltage and applying it to the MFC to control the driving force output by the MFC on the controlled structural system;

[0068] S3: Build a state observer, use the signals transmitted by the force sensor and the state observer as the feedforward and feedback of the structural system, convert the acceleration signal measured by the sensor into the structural state, calculate the error Xe, and drive the MCS algorithm for adaptive control;

[0069] The method for constructing a state observer comprises:

[0070] The acceleration sensor can only observe the acceleration response of the structure, but cannot obtain the state x(t) of the structural system. Instead, the error value x needs to be calculated based on the state of the structural system. eTo drive the MCS algorithm, a state observer needs to be introduced, see Figure 5 As shown;

[0071] With input u and output y as the input of the state observer, the feedback gain matrix K is obtained by the pole configuration method, and the estimated value is adjusted by adjusting the parameters of the state observer. As the speed approaches x, we get Substituting x as the state of the structural system, calculate x e =x m (txt);

[0072] S4: The control force U(t) is calculated by the MCS algorithm, and the control force U(t) is converted into a voltage and applied to the MFC drive plate to act on the controlled structure system to reduce the vibration response of the controlled structure system.

[0073] The method for calculating the control force U(t) by using the MCS algorithm includes:

[0074] Build an adaptive minimum control synthesis MCS algorithm in matlab / simulink, see Figure 4 As shown, the state of the reference model (target output response) x m (t) is subtracted from the state x(t) of the controlled model to obtain the error value xe(t). The feedforward gain K is calculated by the MCS algorithm driven by xe(t) r and feedback gain K, and then use the formula U(t) = K r r(t)+Kx(t) calculates the control force U(t).

[0075] The method of converting the control force U(t) into a voltage and applying it to the MFC driving plate to act on the controlled structural system comprises:

[0076] According to the output characteristics and layout of MFC, the actuator position matrix Bs is calculated, and then Bs is converted into the matrix B under the mode and substituted into the MCS algorithm. The control force U(t) calculated by the MCS algorithm is the optimal driving force that the MFC should output. The feedforward gain in the MCS algorithm is given by the formula:

[0077] Calculated;

[0078] The feedback gain is given by the formula:

[0079] Calculated;

[0080] Among them, the proportional factors α and β are 10 times, 1 times or 1 / 10 times, y eis the system error output signal, τ is the integral variable, T is the matrix transpose, X is the state response, and r is the external excitation.

[0081] See also Figure 3 The figure shows the control workflow of MFC in the embodiment of the present invention; an MFC driver plate and an acceleration sensor are pasted on the controlled structure system, the MFC driver plate is connected to a high-voltage amplifier, the high-voltage amplifier provides the voltage required for MFC driving, an MCS algorithm is built in the computer, the acceleration sensor is connected to the conditioner to transmit the collected acceleration time-course signal to the computer, the control force U(t) is calculated by the MCS algorithm, and then U(t) is multiplied by the coefficient K to be converted into the driving voltage of MFC, and the voltage signal is transmitted to the high-voltage amplifier by the real-time signal processing system, thereby forming a closed-loop control and reducing the vibration response of the controlled structure in real time.

[0082] The embodiment of the present invention also provides an active control system for controlling MFC drive based on MCS algorithm, and the active control method for controlling MFC drive based on MCS algorithm as described above is executed, including:

[0083] State space equation conversion module: uses system identification method to identify the state space equation of the controlled structural system;

[0084] Build the MCS algorithm module: used to build the adaptive minimum control synthesis MCS algorithm, using the earthquake energy reduction model as the reference model and substituting the identified state space equations into the MCS algorithm;

[0085] Build a state observer module: It is used to use the signals transmitted by the force sensor and the state observer as the feedforward and feedback of the structural system, convert the acceleration signal measured by the sensor into the structural state, calculate the error Xe, and drive the MCS algorithm for adaptive control;

[0086] Control force module: used to calculate the control force U(t) through the MCS algorithm, convert the control force U(t) into voltage and apply it to the MFC drive plate to act on the controlled structure system, thereby reducing the vibration response of the controlled structure system.

[0087] The embodiment of the present invention combines the minimum control synthesis algorithm MCS in the adaptive control algorithm with the macro-fiber composite material MFC, and converts the control force calculated by the MCS into a voltage applied to the MFC. The operation is simple, the principle is clear, and it is easy to implement, and it can act on any type of structural system. The macro-fiber composite material has the advantages of good driving performance, a wider operating frequency band, light weight, fast response, no electromagnetic interference, low energy consumption, good electromechanical coupling characteristics, and easy control, and is particularly suitable for active control of lightweight structures. The adaptive algorithm does not require prior knowledge of the parameter information of the controlled system model, nor does it require advance calculation of the controller gain. It does not need to assume that the system parameters change slowly, and allows the parameters to change significantly. The ideal closed-loop effect can also be achieved when the controlled system parameters change, the system's internal dynamic affinity, external interference, and system nonlinearity are present.

[0088] The embodiment of the present invention further provides a computer device, Figure 2 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention; see the accompanying drawings Figure 2 As shown, the computer device includes: an input device 23, an output device 24, a memory 22 and a processor 21; the memory 22 is used to store one or more programs; when the one or more programs are executed by the one or more processors 21, the one or more processors 21 implement the active control method based on the MCS algorithm to control the MFC drive as provided in the above embodiment; wherein the input device 23, the output device 24, the memory 22 and the processor 21 can be connected via a bus or other means, Figure 2 The example of connecting through bus is taken in the following.

[0089] The memory 22 is a readable and writable storage medium of a computing device, which can be used to store software programs and computer executable programs, such as program instructions corresponding to the active control method for controlling MFC drive based on the MCS algorithm described in the embodiment of the present invention; the memory 22 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the device, etc.; in addition, the memory 22 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device; in some instances, the memory 22 can further include a memory remotely arranged relative to the processor 21, and these remote memories can be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0090] The input device 23 may be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the device; the output device 24 may include a display device such as a display screen.

[0091] The processor 21 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 22, that is, realizes the above-mentioned active control method of controlling the MFC drive based on the MCS algorithm.

[0092] The computer device provided above can be used to execute the active control method of controlling MFC drive by the MCS algorithm provided in the above embodiment, and has corresponding functions and beneficial effects.

[0093] The embodiment of the present invention also provides a storage medium containing computer executable instructions, which are used to execute the active control method for controlling MFC drive based on MCS algorithm as provided in the above embodiment when executed by a computer processor. The storage medium is any memory device or storage device of various types, and the storage medium includes: installation medium, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDRRAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc.; the storage medium may also include other types of memory or a combination thereof; in addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet); the second computer system may provide program instructions to the first computer for execution. The storage medium includes two or more storage media that may reside in different locations (for example, in different computer systems connected via a network). The storage medium may store program instructions (for example, specifically implemented as a computer program) that may be executed by one or more processors.

[0094] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention is not limited to the active control method for controlling MFC drive based on MCS algorithm as described in the above embodiment, and can also execute related operations in the active control method for controlling MFC drive based on MCS algorithm provided in any embodiment of the present invention.

[0095] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An active control method for controlling MFC drive based on MCS algorithm, characterized in that: The following steps are involved: S1: Fix the structural system, use the exciter to stimulate the structural system to vibrate, connect the force sensor to the exciter, connect the controlled structure to the MFC driver and the acceleration sensor, connect the MFC driver to the high-voltage amplifier, and the high-voltage amplifier provides the voltage required for MFC driving. Use the system identification method to identify the state space equation of the controlled structural system; S2: Paste the MFC actuator on the controlled structure, build the adaptive minimum control synthesis MCS algorithm, use the earthquake energy reduction model as the reference model, and substitute the identified state space equations into the MCS algorithm; S3: Build a state observer, use the signals transmitted by the force sensor and the state observer as the feedforward and feedback of the structural system, convert the acceleration signal measured by the sensor into the structural state, calculate the error Xe, and drive the MCS algorithm for adaptive control; S4: The control force U(t) is calculated by the MCS algorithm, and the control force U(t) is converted into a voltage and applied to the MFC drive plate to act on the controlled structure system to reduce the vibration response of the controlled structure system.

2. The active control method for controlling MFC drive based on MCS algorithm according to claim 1, characterized in that: The method of using the system identification method to identify the state space equation of the controlled structure system in step S1 includes: Using the system identification toolbox in MATLAB, the signal collected by the force sensor and the output of the MFC driver are used as the excitation force to apply to the force signal of the structural system as input, and the signal collected by the acceleration sensor is used as input. According to the maximum output of the MFC driver and the target control effect, the earthquake acceleration time history is multiplied by the reduction factor K d =0.6, the expression of reference input r(t) is: r(t)=K d d(t), identify the transfer function of the controlled structural system with an accuracy greater than 90%, and then transform the transfer function into the state space equation of the structural system as the motion characteristic of the controlled structural system.

3. The active control method for controlling MFC drive based on MCS algorithm according to claim 1, characterized in that: The method of constructing the adaptive minimum control synthesis MCS algorithm in step S2 includes: A minimum control synthesis algorithm framework is constructed, and the state space equations containing the controlled structural parameters are substituted into the minimum control synthesis algorithm framework; the construction of the minimum control synthesis algorithm framework is divided into three parts: a controlled model, a reference model, and an uncontrolled model, wherein the reference model uses an earthquake energy reduction model, and the uncontrolled model is used as a comparison of the vibration reduction effect; the control force U(t) under the MCS algorithm is calculated, and then the control force U(t) is applied to the controlled model; the state of the structural system is detected by sensors and state observers, and the error is obtained, thereby forming a closed-loop control.

4. The active control method for controlling MFC drive based on MCS algorithm according to claim 1, characterized in that: The method of substituting the identified state space equation into the MCS algorithm in step S2 includes: The driving force that MFC should apply to the structural system is calculated, and the relationship between the output force and voltage in the long side direction is obtained according to the actuation equation of the macro-fiber composite flat plate structure: F x =k*V; Where k is a coefficient related to the size and material properties of the controlled structural system, and the output F of the MFC is x It is linearly related to the voltage V provided, converting the control force into voltage and applying it to the MFC to control the driving force output by the MFC on the controlled structural system.

5. The active control method for controlling MFC drive based on MCS algorithm according to claim 1, characterized in that: The method for building a state observer in step S3 includes: With input u and output y as the input of the state observer, the feedback gain matrix K is obtained by the pole configuration method, and the estimated value is adjusted by adjusting the parameters of the state observer. As the speed approaches x, we get Substituting x as the state of the structural system, calculate x e =x m (txt).

6. The active control method for controlling MFC drive based on MCS algorithm according to claim 1, characterized in that: The method of calculating the control force U(t) by the MCS algorithm in step S4 includes: Build an adaptive minimum control synthesis MCS algorithm in matlab / simulink and convert the state x of the reference model m (t) is subtracted from the state x(t) of the controlled model to obtain the error value xe(t). The feedforward gain K is calculated by the MCS algorithm driven by xe(t) r and feedback gain K, and then use the formula U(t) = K r r(t)+Kx(t) calculates the control force U(t).

7. The active control method for controlling MFC drive based on MCS algorithm according to claim 1, characterized in that: The method of converting the control force U(t) into voltage and applying it to the MFC driving plate to act on the controlled structural system in step S4 includes: According to the output characteristics and layout of MFC, the actuator position matrix Bs is calculated, and then Bs is converted into the matrix B under the mode and substituted into the MCS algorithm. The control force U(t) calculated by the MCS algorithm is the optimal driving force that the MFC should output. The feedforward gain in the MCS algorithm is given by the formula: Calculated; The feedback gain is given by the formula: Calculated; Among them, the proportional factors α and β are 10 times, 1 times or 1 / 10 times, y e is the system error output signal, τ is the integral variable, T is the matrix transpose, X is the state response, and r is the external excitation.

8. Active control system based on MCS algorithm to control MFC drive, characterized in that: The active control method for controlling MFC drive based on MCS algorithm as described in any one of claims 1 to 7 comprises: State space equation conversion module: uses system identification method to identify the state space equation of the controlled structural system; Build the MCS algorithm module: used to build the adaptive minimum control synthesis MCS algorithm, using the earthquake energy reduction model as the reference model and substituting the identified state space equations into the MCS algorithm; Build a state observer module: It is used to use the signals transmitted by the force sensor and the state observer as the feedforward and feedback of the structural system, convert the acceleration signal measured by the sensor into the structural state, calculate the error Xe, and drive the MCS algorithm for adaptive control; Control force module: used to calculate the control force U(t) through the MCS algorithm, convert the control force U(t) into voltage and apply it to the MFC drive plate to act on the controlled structure system, thereby reducing the vibration response of the controlled structure system.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the active control method for controlling MFC drive based on the MCS algorithm described in any one of claims 1 to 7 are implemented.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the active control method for controlling MFC drive based on the MCS algorithm as described in any one of claims 1 to 7 are implemented.

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