电磁准零刚度隔振器的负载自适应滑模控制研究

Load adaptive sliding mode control of electromagnetic quasi-zero stiffness isolators

  • 摘要: 准零刚度(Quasi-zero-stiffness, QZS)隔振器可实现低频隔振性能。但其在诸如负载失配等复杂的激励环境下,隔振性能和稳定性会变差。为提高电磁准零刚度隔振器(Electromagnetic-QZS,E-QZS)的隔振性能,降低其对负载突变的敏感度,提出了E-QZS的负载自适应滑模控制(Load adaptive sliding mode control,LASMC)方法。建立了电磁准零刚度隔振器的理论模型,设计了滑模控制器(Sliding mode control, SMC),利用李雅普诺夫定理确定了稳定情况下增益系数的范围。设计了负载自适应控制律并进行稳定性分析。开展了仿真和实验研究,结果表明:合适的增益可提升90%的隔振性能;负载自适应滑模控制器的引入可有效降低载荷突变对隔振性能的影响,从而提升隔振器隔振性能的鲁棒性。

     

    Abstract: Quasi-zero-stiffness (QZS) isolators have excellent vibration isolation performance in the low-frequency range. However, in complex excitation environments, such as load mismatch condition, vibration isolation performance and corresponding stability deteriorate. To improve the vibration isolation performance of electromagnetic zero-stiffness isolators (E-QZS) and reduce the sensitivity to load, a load adaptive sliding mode control method of E-QZS is proposed. The theoretical model of an electromagnetic zero-stiffness isolator is established and a sliding mode control is designed. The range of gain coefficients for stable operation is determined using Lyapunov's theorem. Additionally, we have devised a load-adaptive control law and conducted a corresponding stability analysis. Through simulation and experimental research, the results demonstrate that setting appropriate gains can enhance vibration isolation performance by 90%. Furthermore, the introduction of a load-adaptive sliding mode controller effectively reduces the impact of sudden load changes on isolation performance, thereby improving the robustness of the isolation system.

     

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