基于鲁棒模型参考控制器的智能结构振动主动控制研究

摘要

Aiming at modeling uncertainty and disturbance of a piezoelectric smart structure,a new robust model reference control law was designed to suppress its vibration. The controller included a state feedback controller and a robust compensator to compensate uncertain effects. The compensation item was determined and the stability of the closed-loop system was proved with Lyapunov method. The control effect was analyzed based on three different compensation functions under single mode or multi-modes,and the possible chattering caused by sgn function could be avoided by using tanh or erf function. Simulation and experimental results showed that the proposed method has good control performance and robustness.%针对压电智能结构建模的不确定性和干扰,设计一种新的鲁棒模型参考控制律来抑制其振动,该控制器包括状态反馈控制器和用来补偿不确定影响的鲁棒补偿器.通过Lyapunov方法确定补偿项并证明该闭环系统的稳定性.分别在单模态和多模态下,分析三种不同补偿函数对系统的影响,指出运用tanh或erf函数可有效避免sgn函数补偿出现的抖振现象.仿真和实验结果表明该方法具有很好的控制效果和鲁棒性.