Intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters

Abstract

This invention discloses an intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters. The method includes: constructing a target vibration absorber model corresponding to the actual vibration absorber, with the acceleration signal of the host structure as input and the desired local state response as output; acquiring the actual local state response of the actual vibration absorber and calculating an adaptive adjustment rate based on the state error between the desired and actual local state responses; and adjusting the tuning parameters of the actual vibration absorber online based on the adaptive adjustment rate to make its actual local state response approximate the desired local state response, thereby achieving adaptive compensation under uncertainties, drifts, or abrupt changes in structural parameters. This invention is applied in the field of vibration control, enabling the vibration absorber to automatically adjust its stiffness and damping parameters even when there are uncertainties, drifts, or abrupt changes in the structural parameters of the vibration absorber, ensuring its dynamic performance continuously approaches the set target, thus maintaining stable and effective vibration reduction performance.

Description

Technical Field

[0001] This invention relates to the field of vibration control technology, specifically to an intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters. It can be widely applied to various adjustable structures such as electromagnetic vibration absorbers, leaf spring vibration absorbers, and piezoelectric vibration absorbers, and is suitable for solving the problem of vibration absorber detuning caused by uncertainties, drifts, or sudden changes in structural parameters. Background Technology

[0002] Traditional tuned vibration absorbers (TVAs) achieve vibration reduction of disturbances at specific frequencies by precisely setting stiffness and damping parameters. Their vibration absorption performance is highly dependent on the tuning accuracy of these parameters; even slight detuning (such as deviation from the natural frequency) can significantly reduce their vibration reduction effect. However, in practical engineering, due to factors such as manufacturing errors, installation deviations, material aging, or changes in the working environment, the structural parameters of the absorber are uncertain and may drift or abruptly change over time, leading to performance degradation or even failure.

[0003] To address the aforementioned issues, there are currently two main approaches: (1) improving the tolerance of vibration absorbers to parameter errors based on robust optimization methods; and (2) developing semi-active structural parameter tunable vibration absorbers to facilitate manual intervention and periodic readjustment of the absorber's structural parameters. The former offers limited performance improvement, while the latter's additional manpower consumption is a major drawback.

[0004] Therefore, enabling vibration absorbers to continuously and autonomously maintain set structural parameters has become a critical issue that urgently needs to be addressed. Summary of the Invention

[0005] To address the shortcomings of the existing technology, this invention provides an intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters. This method enables the vibration absorber to automatically adjust its stiffness and damping parameters even when there are uncertainties, drifts, or abrupt changes in the structural parameters of the absorber. This ensures that the absorber's dynamic performance continuously approaches the set target, thereby maintaining stable and effective vibration reduction performance. Furthermore, it eliminates the need for precise prior identification of the absorber parameters; only the target structural parameters (such as stiffness and damping) need to be set, and the system can autonomously complete the tuning and tracking.

[0006] To achieve the above objectives, the present invention provides an intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters, comprising the following steps:

[0007] Step 1: Construct a target vibration absorber model corresponding to the actual vibration absorber. The input of the target vibration absorber model is the acceleration signal of the host structure on the actual vibration absorber, and the output is the desired local state response of the actual vibration absorber.

[0008] Step 2: Obtain the actual local state response of the actual vibration absorber, and calculate the adaptive adjustment rate based on the state error between the expected local state response and the actual local state response;

[0009] Step 3: Based on the adaptive adjustment rate, adjust the tuning parameters of the actual vibration absorber online so that its actual local state response is close to the desired local state response, thereby achieving adaptive compensation under structural parameter uncertainties, drifts or sudden changes.

[0010] In one embodiment, the tuning parameter is a first adjustment parameter used to adjust the stiffness of the vibration absorber, i.e., K = [Δk], where K is the tuning parameter and Δk is the first adjustment parameter; or

[0011] The tuning parameter is a second adjustment parameter used to adjust the damping of the vibration absorber, i.e., K = [Δc], where Δc is the second adjustment parameter; or

[0012] The tuning parameters include a first adjustment parameter for adjusting the stiffness of the vibration absorber and a second adjustment parameter for adjusting the damping of the vibration absorber, namely K = [Δk Δc].

[0013] In one embodiment, the target vibration absorber model is:

[0014]

[0015] in, As the reference state vector, For the reference state matrix, The perturbation input vector, For the acceleration response of the host structure, y m For the desired local displacement of the host structure, k represents the desired local velocity of the host structure. m For the target stiffness of the actual vibration absorber, c m Let m be the target damping of the actual vibration absorber, and m be the mass of the actual vibration absorber.

[0016] In one embodiment, the adaptive adjustment rate is calculated as follows:

[0017]

[0018] Where δK is the adaptive adjustment rate, i.e., the update amount of the tuning parameter K in each time step dt; Γ is the adaptive gain; and B is the input matrix. Let T be the state error between the desired local state response and the actual local state response, and let y be the actual local displacement of the host structure. This represents the actual local velocity of the host structure.

[0019] In one embodiment, adjusting the tuning parameters of the actual vibration absorber online based on the adaptive adjustment rate specifically involves:

[0020] When the tuning parameter K = [Δk], the update method for the tuning parameter K is K = K + δK (1);

[0021] When the tuning parameter K = [Δc], the update method for the tuning parameter K is K = K + δK (2);

[0022] When the tuning parameter K = [ΔkΔc], the tuning parameter K is updated as K = K + δK;

[0023] Where δK(1) is the first element of the adaptive regulation rate, and δK(2) is the second element of the adaptive regulation rate.

[0024] In one embodiment, the actual local displacement is directly measured by a displacement sensor, and the actual local velocity is measured by a velocity sensor or estimated by calculation from the displacement signal.

[0025] In one embodiment, the acceleration signal of the host structure is acquired by an acceleration sensor mounted on the base of the actual vibration absorber or on the host structure.

[0026] In one embodiment, in step 3, the tuning parameters of the actual vibration absorber are adjusted online by a digital controller based on the adaptive adjustment rate.

[0027] In one embodiment, the actual vibration absorber is an electromagnetic vibration absorber; or

[0028] The actual vibration absorber is a piezoelectric vibration absorber; or

[0029] The actual vibration absorber is a leaf spring type vibration absorber based on a flexible structure; or

[0030] The actual vibration absorber is a mechanical vibration absorber equipped with an adjustable spring or an adjustable damping mechanism; or

[0031] The actual vibration absorber is a vibration absorption device with stiffness and damping adjustment interfaces.

[0032] Compared with the prior art, the present invention has the following beneficial technical effects:

[0033] 1. Precise control capability: Even when the initial parameters of the vibration absorber are unknown or have errors, the method of the present invention can automatically tune the vibration absorber to the target state;

[0034] 2. Strong structural robustness: The method of this invention has the ability to compensate for deviations (uncertainty, drift, abrupt change) in the structural parameters of the vibration absorber in real time and maintain its performance stability;

[0035] 3. Easy to use: The method of this invention does not require manual identification or complex modeling; it only requires providing the target parameters to work.

[0036] 4. Wide applicability: The method of this invention can be applied to various types of vibration absorber structures, such as electromagnetic vibration absorbers, piezoelectric vibration absorbers, and leaf spring vibration absorbers, and has good engineering adaptability. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the configuration and composition of an electromagnetic vibration absorber with adjustable structural parameters in an embodiment of the present invention;

[0039] Figure 2 This is a flowchart of the intelligent control method for the vibration absorber in an embodiment of the present invention;

[0040] Figure 3 This is a principle block diagram of the intelligent control method for the vibration absorber in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram illustrating the effect of the intelligent vibration damper control method in practical application according to an embodiment of the present invention, wherein: Figure 4 (a) is a schematic diagram comparing the local displacement of the target vibration absorber model and the actual vibration absorber. Figure 4 (b) is a schematic diagram showing the changes in the equivalent stiffness and equivalent damping of the controlled vibration absorber. Figure 4 (c) is a schematic diagram of the change in local displacement error. Figure 4 (d) is a schematic diagram of the vibration changes of the system.

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0044] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0045] This embodiment discloses an intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters. When there is uncertainty, drift or abrupt change in the structural parameters of the vibration absorber, the vibration absorber can automatically adjust its own stiffness and damping parameters so that its dynamic performance continuously approaches the set target, thereby maintaining stable and effective vibration reduction performance. Moreover, it does not require precise identification of the vibration absorber parameters in advance. Only the target structural parameters (such as stiffness and damping) need to be set, and the vibration absorber system can autonomously complete the tuning and tracking.

[0046] The intelligent control method for vibration absorbers in this embodiment can be applied to electromagnetic vibration absorbers, piezoelectric vibration absorbers, as well as leaf spring vibration absorbers based on flexible structures, mechanical vibration absorbers with adjustable springs or adjustable damping mechanisms, or vibration absorption devices with stiffness and damping adjustment interfaces, etc. (Reference) Figure 1 Taking an electromagnetic vibration absorber with adjustable structural parameters as an example, it includes components such as the absorber mass, an eddy current displacement sensor, a leaf spring system, an electromagnetic transducer, and a drive circuit. The leaf spring system provides the foundation stiffness, and the electromagnetic transducer can adjust the current through local displacement and local state feedback to change the equivalent stiffness and equivalent damping of the absorber online. The eddy current sensor can measure the local displacement of the dynamic mass and estimate its local velocity response. The absorber also has a control interface, supporting external systems to adjust the structural parameters of the absorber online.

[0047] refer to Figure 2 , Figure 3 The intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters in this embodiment specifically includes the following steps:

[0048] Step 1: Construct a target vibration absorber model corresponding to the actual vibration absorber. The input of the target vibration absorber model is the acceleration signal of the host structure on the actual vibration absorber, and the output is the expected local state response of the actual vibration absorber.

[0049] Step 2: Obtain the actual local state response of the actual vibration absorber, and calculate the adaptive adjustment rate based on the state error between the expected local state response and the actual local state response;

[0050] Step 3: Adjust the tuning parameters of the actual vibration absorber online based on the adaptive adjustment rate so that its actual local state response is close to the desired local state response, thereby achieving adaptive compensation under structural parameter uncertainties, drifts or sudden changes.

[0051] In practical implementation, the tuning parameter can be either a first adjustment parameter for adjusting the stiffness of the vibration absorber or a second adjustment parameter for adjusting the damping of the vibration absorber. Furthermore, the tuning parameter can also be set to include both a first adjustment parameter for adjusting the stiffness of the vibration absorber and a second adjustment parameter for adjusting the damping of the vibration absorber. That is, the tuning parameter K = [Δk], K = [Δc], or K = [Δk + Δc], where Δk is the first adjustment parameter and Δc is the second adjustment parameter. The local state corresponding to the desired local state response and the actual local state response can include the local displacement of the host structure, the local velocity of the host structure, or both the local displacement and local velocity of the host structure.

[0052] Taking the local state as an example, which includes both the local displacement and local velocity of the host structure, the target vibration absorber model constructed in the specific implementation of step 1 is as follows:

[0053]

[0054] in, As the reference state vector, For the reference state matrix, The perturbation input vector, For the acceleration response of the host structure, y m For the desired local displacement of the host structure, k represents the desired local velocity of the host structure. m For the target stiffness of the actual vibration absorber, c m Let m be the target damping of the actual vibration absorber, and m be the mass of the actual vibration absorber.

[0055] In practical applications, the actual acceleration of the host structure is obtained by an acceleration sensor installed on the base of the actual vibration absorber or on the host structure. Then, the actual acceleration As input to the target vibration absorber model, the desired local state response of the actual vibration absorber is obtained, i.e., the desired local displacement y is obtained. m and / or desired local velocity

[0056] In practical applications, the equivalent model of a real vibration absorber can be expressed as:

[0057]

[0058] in, The actual state vector, The actual state matrix, For the input matrix, y represents the equivalent input of the actual vibration absorber, and y represents the actual local displacement of the host structure. denoted as ρ, where k is the actual local velocity of the host structure, c is the actual stiffness of the vibration absorber, and K is the equivalent tuning parameter for tuning the actual vibration absorber stiffness and / or damping.

[0059] In the specific implementation of step 2, an adaptive regulation rate is designed based on Lyapunov stability theory, and its calculation process is as follows:

[0060] First, calculate the state error between the desired local state response and the actual local state response. During application, the actual local displacement y can be directly measured by a displacement sensor, and the actual local velocity... It can be obtained by measuring with a velocity sensor or by calculating and estimating from displacement signals;

[0061] Then, based on Lyapunov stability theory, the following adaptive regulation rate is designed:

[0062]

[0063] Where δK is the adaptive adjustment rate, i.e., the update amount of the tuning parameters in each time step dt; Γ is the adaptive gain, which is the only hyperparameter that needs to be manually adjusted; P is the Lyapunov matrix, a symmetric positive definite matrix whose solution is not unique, but can be satisfied by the following equation:

[0064]

[0065] Where T is the transpose of the matrix and Q is a symmetric positive definite matrix.

[0066] Once the current adaptive adjustment rate δK is calculated, it can be applied to the structural parameter control interface of the electromagnetic transducer to update the tuning parameter K. This allows for online adjustment of the absorber's stiffness k and / or damping c, achieving adaptive compensation of the absorber's structural parameters. Specifically:

[0067] When the tuning parameter K = [Δk], the update method for the tuning parameter K is K = K + δK (1);

[0068] When the tuning parameter K = [Δc], the update method for the tuning parameter K is K = K + δK (2);

[0069] When the tuning parameter K = [Δk Δc], the tuning parameter K is updated as K = K + δK;

[0070] Where δK(1) is the first element of the adaptive regulation rate, and δK(2) is the second element of the adaptive regulation rate.

[0071] refer to Figure 4This is a schematic diagram illustrating the effect of the intelligent control method for vibration absorbers in practical applications, including a comparison of the local state response of the target vibration absorber model and the actual vibration absorber, the error convergence process, the vibration reduction performance of the host structure, and the evolution process of the adjustment parameters. Figure 4 (a) Comparison of the local displacement y between the target vibration absorber model and the actual vibration absorber. When this control method is implemented, the actual vibration absorber increases the equivalent stiffness of the controlled vibration absorber through positive feedback of local displacement, and decreases the equivalent damping of the controlled vibration absorber through negative feedback of local velocity. Figure 4 As shown in (b), through adaptive tuning of structural parameters, the output of the actual vibration absorber quickly converges to the target vibration absorber model, thus reducing the local displacement error signal err. y Approaching 0, that is Figure 4 As shown in (c); at the same time, the vibration of the main system was also greatly suppressed, such as Figure 4 As shown in (d), the results show that even with large errors in the initial structural parameters of the vibration absorber, the system can achieve rapid convergence and stable control, demonstrating excellent robustness and tuning capability.

[0072] The above description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. An intelligent control method for a vibration absorber with structural parameter adaptive compensation capability, characterized in that, Includes the following steps: Step 1: Construct a target vibration absorber model corresponding to the actual vibration absorber. The input of the target vibration absorber model is the acceleration signal of the host structure on the actual vibration absorber, and the output is the desired local state response of the actual vibration absorber. Step 2: Obtain the actual local state response of the actual vibration absorber, and calculate the adaptive adjustment rate based on the state error between the expected local state response and the actual local state response; Step 3: Based on the adaptive adjustment rate, adjust the tuning parameters of the actual vibration absorber online so that its actual local state response is close to the desired local state response, thereby achieving adaptive compensation under structural parameter uncertainties, drifts or sudden changes.

2. The intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters according to claim 1, characterized in that, The tuning parameter is the first adjustment parameter used to adjust the stiffness of the vibration absorber, i.e., K = [Δk], where K is the tuning parameter and Δk is the first adjustment parameter; or The tuning parameter is a second adjustment parameter used to adjust the damping of the vibration absorber, i.e., K = [Δc], where Δc is the second adjustment parameter; or The tuning parameters include a first adjustment parameter for adjusting the stiffness of the vibration absorber and a second adjustment parameter for adjusting the damping of the vibration absorber, namely K = [Δk Δc].

3. The intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters according to claim 2, characterized in that, The target vibration absorber model is as follows: in, As the reference state vector, For the reference state matrix, The perturbation input vector, For the acceleration response of the host structure, y m For the desired local displacement of the host structure, k represents the desired local velocity of the host structure. m For the target stiffness of the actual vibration absorber, c m Let m be the target damping of the actual vibration absorber, and m be the mass of the actual vibration absorber.

4. The intelligent control method for vibration absorbers with adaptive compensation capability for structural parameters according to claim 3, characterized in that, The calculation process for the adaptive adjustment rate is as follows: Where δK is the adaptive adjustment rate, i.e., the update amount of the tuning parameter K in each time step dt; Γ is the adaptive gain; and B is the input matrix. Let T be the state error between the desired local state response and the actual local state response, and let y be the actual local displacement of the host structure. This represents the actual local velocity of the host structure.

5. The intelligent control method for a vibration absorber with adaptive compensation capability for structural parameters according to claim 4, characterized in that, The online adjustment of the tuning parameters of the actual vibration absorber based on the adaptive adjustment rate is specifically as follows: When the tuning parameter K = [Δk], the update method for the tuning parameter K is K = K + δK (1); When the tuning parameter K = [Δc], the update method for the tuning parameter K is K = K + δK (2); When the tuning parameter K = [ΔkΔc], the tuning parameter K is updated as K = K + δK; Where δK(1) is the first element of the adaptive regulation rate, and δK(2) is the second element of the adaptive regulation rate.

6. The intelligent control method for a vibration absorber with adaptive compensation capability for structural parameters according to any one of claims 1 to 5, characterized in that, The actual local displacement is obtained directly by a displacement sensor, and the actual local velocity is obtained by a velocity sensor or estimated by calculation from the displacement signal.

7. The intelligent control method for a vibration absorber with adaptive compensation capability for structural parameters according to any one of claims 1 to 5, characterized in that, The acceleration signal of the host structure is acquired by an acceleration sensor mounted on the base of the actual vibration absorber or on the host structure.

8. The intelligent control method for a vibration absorber with adaptive compensation capability for structural parameters according to any one of claims 1 to 5, characterized in that, In step 3, the tuning parameters of the actual vibration absorber are adjusted online based on the adaptive adjustment rate by a digital controller.

9. The intelligent control method for a vibration absorber with adaptive compensation capability for structural parameters according to any one of claims 1 to 5, characterized in that, The actual vibration absorber is an electromagnetic vibration absorber; or The actual vibration absorber is a piezoelectric vibration absorber; or The actual vibration absorber is a leaf spring type vibration absorber based on a flexible structure; or The actual vibration absorber is a mechanical vibration absorber equipped with an adjustable spring or an adjustable damping mechanism; or The actual vibration absorber is a vibration absorption device with stiffness and damping adjustment interfaces.

Images