一种基于压电堆执行器的柔性结构滞后补偿PID控制

采用压电叠堆执行器和PID控制相结合方法解决柔性结构振动问题。提出相位补偿和分频控制相结合的方法分别解决柔性结构中存在的相位滞后和多频激励问题。首先通过有限元分析方法对柔性梁结构进行理论模态分析,并搭建实验系统进行验证,确定系统的主导模态。然后对系统延时进行理论分析,通过实验辨识出激励频率与滞后补偿的函数关系。最后设计基于滞后补偿的分频PID控制器,通过实验验证多频振动激励条件下所设计控制器的振动控制效果。结果表明所设计的滞后补偿PID控制器对相位滞后有较好补偿效果,最大振动衰减可达45%。

Lag-compensation PID Control for a Flexible Structure with Piezoelectric Stack Actuators

This paper exploits piezoelectric stack actuator and PID controller to suppress the vibration of the flexible beam in the presence of multi-frequency excitations. Meanwhile, the phase-lag compensator and frequency division method are applied to solve the issues of phase-lag and multi-frequency excitation for the flexible beam, respectively. First of all, the modal frequencies and shapes of the flexible beam are obtained by FEA method and verified by experimental test. Moreover, the relationship between the excitation frequency and the phase-lag is identified by experiments. Then, the active frequency-division-based PID controller with the phase compensator is designed to attenuate multi-frequency vibrations of the flexible beam. Finally, we investigate the performance of the proposed controller and specifically, the acceleration responses of the controlled beam under multi-frequency excitation are evaluated. The maximum attenuation of acceleration root mean square (RMS) is almost 45%, which indicates that the designed PID controller is effective.