悬臂梁参数辨识及PD控制器的设计

首先介绍了用一种实验方法辨识悬臂梁的参数,建立其数学模型。然后基于此模型,利用控制理论并结合Matlab仿真设计了PD控制器。在Matlab中对基于PD控制器的控制系统进行仿真,获得了很好的仿真结果。用实时仿真系统dSPACE实现仿真模型与硬件装置的连接,利用压电陶瓷作为传感器和驱动器,建立了实验系统。实验结果表明,建立的数学模型比较接近实际的悬臂梁对象,设计的PD控制器能较好地抑制悬臂梁的振动。

Parameter identification of a cantilever beam and design of the PD controller

A experimental method for parameter identification of a cantilever beam is introduced in this paper, and then the mathematic model is established. Based on the model, A PD controller is designed according to control theories and Matlab simulation. The simulation for the system based on PD controller is conducted in Matlab and a good result is obtained. Then a experimental system is set up, by using the timely simulation system dSPACE to connect the simulation model with the hardware devices and using the. piezoceramicses for sensors and actuators. The experimental results prove, the mathematic model is quite similar to the actual beam, and the PD controller suppresses the beam’s vibration fairly well.