轮带系统横向振动变结构控制方法

针对由主从动轮、作动器及皮带构成的典型轮带系统模型，皮带横向振动与主、从动轮及作动器振动相耦合，其横向位移受主、从动轮及作动器影响，给出皮带在谐波激励下横向振动位移精确表达式，利用变结构理论，采用指数趋近律设计出有效控制力以控制张紧臂方向，从而抑制皮带横向振动。在初始条件和与激励作用下，利用Matlab进行数值仿真。结果表明：在谐波激励下，皮带横向振动位移得到有效抑制，验证控制力的有效性。

Transverse vibration control of belt drive systems by variable structure control

The prototypical model of belt drive systems contains a driving pulley，a driven pulley，an actuator and belts。The transverse vibrations of belts are coupled with the vibrations of the driving pulley，driven pulley and actuator。And so，the transverse vibration displacements of belts have effects on the driving pulley，driven pulley and actuator。The transverse vibration displacements of the belts under the harmonic excitation are formulated in this paper。And the variable structure control theory and exponentially reaching law are employed to design the controlling force which controls the tensioner arm orientation。And the transverse vibration displacements of the belts can effectively restrain under the controlling force。A numerical simulation is made via Matlab to verify the efficiency of the control under the initial conditions and harmonic excitation。And the results of numerical simulation demonstrate that under the harmonic excitation，the transverse vibration displacements of the belts are reduced。