CN111966136B - Low-frequency active vibration suppression hybrid controller - Google Patents
Low-frequency active vibration suppression hybrid controller Download PDFInfo
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- CN111966136B CN111966136B CN202010896158.7A CN202010896158A CN111966136B CN 111966136 B CN111966136 B CN 111966136B CN 202010896158 A CN202010896158 A CN 202010896158A CN 111966136 B CN111966136 B CN 111966136B
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Abstract
The invention relates to a low-frequency active vibration suppression hybrid controller. The low-frequency active vibration suppression hybrid controller comprises: the device comprises an input port, a feedback control circuit, a feedforward control circuit, an adder circuit and an output port; the adder circuit is used for summing the voltage signals output by the feedback control circuit and the feedforward control circuit and adjusting the damping value of the feedforward control circuit and the rigidity value of the feedback control circuit. The low-frequency active vibration suppression hybrid controller provided by the invention combines feedforward control and feedback control, and uses an analog circuit to replace a digital circuit to design and realize the controller. The design for resisting the low-frequency noise saturation of the sensor is applied to the controller, and on the basis of the design for resisting the low-frequency noise saturation, the low-frequency phase and amplitude characteristics of the controller are further improved, so that the parameters of the controller are flexible and adjustable, and the performance of the controller is optimal.
Description
Technical Field
The invention relates to the field of active vibration control, in particular to a low-frequency active vibration suppression hybrid controller.
Background
Mechanical vibration is widely used in the fields of industrial production, transportation, aerospace and the like, and the mechanical vibration can possibly influence the working performance of equipment, shorten the service life of the equipment and cause economic loss. Mechanical vibration can be effectively attenuated through the active vibration attenuation system, and adverse effects caused by vibration are reduced.
The vibration control effect of an active vibration suppression system is related to the active control method adopted in the system. The active control method may be classified into a feedback control method, a feedforward control method, and a hybrid control method combining feedback and feedforward. The feedback control obtains an error signal by detecting the vibration of the vibration suppression object and comparing the detected vibration with a control target, and a response is generated in a feedback loop according to the error signal to counteract the vibration of the vibration suppression object. In the feedback control, a system feedback loop comprises three links of a sensor, an actuator and a controlled object, the stability of the vibration suppression system becomes complicated due to the comprehensive influence of the dynamic characteristics of the three links, and the vibration suppression performance of the feedback control is limited, so that the vibration control of a wide frequency band is difficult to realize. The feedforward control is different from the feedback control, and the feedforward control models a forward channel of vibration transmission by detecting the vibration of a vibration source and counteracts the vibration before the vibration is not transmitted to a vibration suppression object. The feedforward control can realize vibration control over a wide frequency range. However, the feedforward control is open-loop control, and when a control system is influenced by factors such as external disturbance and environmental fluctuation, the problem of system instability can occur. It can be seen that either the feedback control method alone or the feedforward control method has certain drawbacks. The hybrid control method combining feedback and feedforward can reduce the performance requirement of each sub-method, and the active vibration reduction system achieves better vibration suppression effect than that before the performance requirement of each sub-method is reduced through complementation of advantages and disadvantages among the sub-methods. On the basis of using feedback control, the vibration suppression performance of the active vibration suppression system can be further improved by introducing feedforward control, and the existence of the feedback control also provides enough stability for the feedforward control. The use of the hybrid control method is therefore more advantageous than the use of either the feedback control or the feedforward control method alone.
In a feedforward link in the hybrid control method, a forward channel model constructed in the controller contains an integral link, and a low-frequency signal has larger gain after passing through the integral link, so that the feedforward link is sensitive to direct current bias and low-frequency noise interference, and the low-frequency interference further causes the problem of circuit saturation of the controller, deteriorates the performance of the controller at low frequency and affects the vibration suppression effect. Although a high-pass filter is added at the front stage of the controller to filter out low-frequency signals and resist circuit saturation, the controller model has phase offset and amplitude loss at low frequency, which causes accuracy loss of a forward channel model. Because the feedforward link is open-loop and is influenced by factors such as external disturbance and environmental fluctuation, and the system is easy to destabilize, the requirement on the modeling precision of a forward channel for vibration transmission in the feedforward link is very high, and therefore, the improvement effect of the method of adding the high-pass filter on the circuit saturation problem is limited. Therefore, the method solves the problem of circuit saturation caused by low-frequency interference in a feedforward link, further improves the problems of phase offset and amplitude loss caused by adding an anti-circuit saturation design, improves the precision of a forward channel model, has great significance for improving the performance of a low-frequency active vibration suppression hybrid controller, and is a great key point related to the research of a hybrid control method. In practical applications, a controller based on digital circuit design is often used to realize hybrid control combining feedback and feedforward. However, the digital circuit has complex structural design, high development cost and long verification period of a principle scheme, and is not suitable for being applied to light vibration suppression occasions with low cost. Compared with a digital circuit, the analog circuit has the advantages of simple structure, low development cost and short verification period of the principle scheme, and is more suitable for light-weight and low-cost vibration suppression occasions. Therefore, the controller based on the analog circuit design has wider application range and better economic benefit than the controller using the digital circuit. However, the circuit parameters of the analog circuit are generally fixed, and in different application situations, the application objects of the controller will change, and if the application objects are different greatly, the control effect of the controller will be completely lost. In addition, the universality of the controller with fixed parameters is not ideal because the damping bandwidth of the controller and the stability of the system need to be considered in practical application so as to adapt to different working conditions.
Therefore, it is a technical problem to be solved in the art to provide a hybrid controller suitable for low-frequency active vibration suppression, which can properly adjust the vibration suppression bandwidth of the controller to optimize the performance of the controller.
Disclosure of Invention
The invention aims to provide a hybrid controller which can adjust the vibration suppression bandwidth of a controller and enables the performance of the controller to be optimal and is suitable for low-frequency active vibration suppression.
In order to achieve the purpose, the invention provides the following scheme:
a low frequency active damping hybrid controller comprising: the device comprises an input port, a feedback control circuit, a feedforward control circuit, an adder circuit and an output port;
the input end of the feedback control circuit and the input end of the feedforward control circuit are both connected with the input port; the output end of the feedback control circuit and the output end of the feedforward control circuit are both connected with the input end of the adder circuit; the output end of the adder circuit is connected with the output port;
the adder circuit is used for summing the voltage signals output by the feedback control circuit and the feedforward control circuit and adjusting the damping value of the feedforward control circuit and the rigidity value of the feedback control circuit.
Preferably, the feedback control circuit includes: the device comprises a first voltage following module, a first high-pass filtering module, a low-pass filtering module and a reverse amplification module;
the input end of the first voltage following module is connected with the input port; the output end of the first voltage following module is connected with the input end of the first high-pass filtering module; the output end of the first high-pass filtering module is connected with the input end of the low-pass filtering module; the output end of the low-pass filtering module is connected with the input end of the reverse amplification module; and the output end of the reverse amplification module is connected with the output port.
Preferably, the low-pass filtering module includes: a ninth resistor, an eleventh resistor, an eighth capacitor, a thirteenth resistor and a seventh operational amplifier;
one end of the ninth resistor is connected with the input end of the low-pass filtering module; the other end of the ninth resistor, one end of the thirteenth resistor and one end of the eighth capacitor are all connected with the inverting input end of the seventh operational amplifier; the other end of the thirteen resistor and the other end of the eighth capacitor are both connected with the output end of the seventh operational amplifier; the output end of the seventh operational amplifier is connected with the output end of the low-pass filtering module; one end of the eleventh resistor is connected with the non-inverting input end of the seventh operational amplifier; the other end of the eleventh resistor is grounded;
the thirteenth resistor is an adjustable resistor.
Preferably, the inverse amplification module includes: a fourteenth resistor, a fifteenth resistor, and an eighth operational amplifier;
one end of the fourteenth resistor is connected with the input end of the reverse amplification module; the other end of the fourteenth resistor and one end of the fifteenth resistor are both connected with the inverting input end of the eighth operational amplifier; the other end of the fifteenth resistor is connected with the output end of the eighth operational amplifier; the output end of the eighth operational amplifier is connected with the output end of the reverse amplification module; and the non-inverting input end of the eighth operational amplifier is grounded.
Preferably, the feedforward control circuit includes: the second voltage following module, the second high-pass filtering module, the sensor compensation module and the feedforward low-frequency improving module;
the input end of the second voltage following module is connected with the input port; the output end of the second voltage following module is connected with the input end of the second high-pass filtering module; the output end of the second high-pass filtering module is connected with the input end of the sensor compensation module; the output end of the sensor compensation module is connected with the input end of the feedforward low-frequency improvement module; and the output end of the feedforward low-frequency improving module is connected with the output port.
Preferably, the first voltage following module and the second voltage following module each include a first operational amplifier;
the inverting input end of the first operational amplifier is the input end of the first voltage following module or the input end of the second voltage following module; the inverting input end of the first operational amplifier is connected with the output end of the first operational amplifier; the non-inverting input end of the first operational amplifier is grounded; the output end of the first operational amplifier is the output end of the first voltage following module or the output end of the second voltage following module.
Preferably, the first high-pass filtering module and the second high-pass filtering module each include: the first capacitor, the first resistor and the second operational amplifier;
one end of the first capacitor is connected with the input end of the first high-pass filtering module or the input end of the second high-pass filtering module; the other end of the first capacitor and one end of the first resistor are both connected with the non-inverting input end of the second operational amplifier; the other end of the first resistor is grounded; the inverting input end of the second operational amplifier is connected with the output end of the second operational amplifier; and the output end of the second operational amplifier is connected with the output end of the first high-pass filtering module or the output end of the second high-pass filtering module.
Preferably, the sensor compensation module includes: the second resistor, the second capacitor, the third resistor, the fourth capacitor, the fifth resistor and the fourth operational amplifier;
one end of the second resistor and one end of the second capacitor are both connected with the input end of the sensor compensation module; the other end of the second resistor, the other end of the second capacitor and one end of the third capacitor are connected with one end of the third resistor; the other end of the third capacitor is grounded; the other end of the third resistor, one end of the fifth resistor and one end of the fourth capacitor are all connected with the inverting input end of the fourth operational amplifier; the other end of the fifth resistor and the other end of the fourth capacitor are both connected with the output end of the fourth operational amplifier; the output end of the fourth operational amplifier is connected with the output end of the sensor compensation module; one end of the fourth resistor is connected with the non-inverting input end of the fourth operational amplifier; the other end of the fourth resistor is grounded;
the second resistor, the third resistor and the fifth resistor are all adjustable resistors.
Preferably, the feed-forward low-frequency improving module includes: a seventh resistor, a sixth capacitor, an eighth resistor, a seventh capacitor, a twelfth resistor, a tenth resistor and a sixth operational amplifier;
one end of the seventh resistor is connected with the input end of the feedforward low-frequency improving module; the other end of the seventh resistor and one end of the sixth capacitor are both connected with one end of the eighth resistor; the other end of the sixth capacitor is grounded; the other end of the eighth resistor, one end of the twelfth resistor and one end of the seventh capacitor are all connected with the inverting input end of the sixth operational amplifier; the other end of the twelfth resistor and the other end of the seventh capacitor are both connected with the output end of the sixth operational amplifier; one end of the tenth resistor is connected with the non-inverting input end of the sixth operational amplifier; the other end of the tenth resistor is grounded;
the eighth resistor and the twelfth resistor are both adjustable resistors.
Preferably, the adder circuit includes: a seventeenth resistor, a sixteenth resistor, an eighteenth resistor, a nineteenth resistor, and a ninth operational amplifier;
one end of the seventeenth resistor is connected with the output end of the feedback control circuit; one end of the sixteenth resistor is connected with the output end of the feedforward control circuit; the other end of the seventeenth resistor, the other end of the sixteenth resistor and one end of the nineteenth resistor are connected with the inverting input end of the ninth operational amplifier; the other end of the nineteenth resistor is connected with the output end of the ninth operational amplifier; the output end of the ninth operational amplifier is connected with the output port; one end of the eighteenth resistor is connected with the non-inverting input end of the ninth operational amplifier; the other end of the eighteenth resistor is grounded;
the seventeenth resistor and the sixteenth resistor are both adjustable resistors.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the low-frequency active vibration suppression hybrid controller circuit suitable for active vibration suppression combines feedforward control and feedback control, and uses an analog circuit to replace a digital circuit to design and realize the controller; the design for resisting the low-frequency noise saturation of the sensor is applied to the controller, and on the basis of the design for resisting the low-frequency noise saturation, the low-frequency phase and amplitude characteristics of the controller are further improved; the parameters of the controller are flexible and adjustable, and can be adjusted in real time according to an actual system model and actual control requirements.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a low-frequency active vibration suppression hybrid controller provided by the present invention;
FIG. 2 is a schematic structural diagram of a low-pass filtering module according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a reverse amplification module according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first and a second voltage follower modules according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a first and a second high-pass filtering modules according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a sensor compensation module according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a feed-forward low frequency improving module according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an adder circuit according to an embodiment of the present invention.
Description of the symbols:
001-feedback control circuit, 101-first voltage follower module, 102-first high-pass filter module, 103-low-pass filter module, 104-reverse amplification module, 002-feedforward control circuit, 201-second voltage follower module, 202-second high-pass filter module, 203-sensor compensation module, 204-feedforward low-frequency improvement module, 003-adder circuit, U1-first operational amplifier, C1-first capacitor, C2-first resistor, U2-second operational amplifier, R2-second resistor, C2-second capacitor, C3-third capacitor, R3-third resistor, R4-fourth resistor, C4-fourth capacitor, R5-fifth resistor, U4-fourth operational amplifier, R7-seventh resistor, c6-sixth capacitor, R8-eighth resistor, C7-seventh capacitor, R12-twelfth resistor, R10-tenth resistor, U6-sixth operational amplifier, R9-ninth resistor, R11-eleventh resistor, C8-eighth capacitor, C13-thirteenth resistor, U7-seventh operational amplifier, R14-fourteenth resistor, R15-fifteenth resistor, U8-eighth operational amplifier, R17-seventeenth resistor, R16-sixteenth resistor, R18-eighteenth resistor, R19-nineteenth resistor, and U9-ninth operational amplifier.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a low-frequency active vibration suppression hybrid controller which can adjust the vibration suppression bandwidth of a controller and enables the performance of the controller to be optimal and is suitable for active vibration suppression.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a low-frequency active vibration suppression hybrid controller provided in the present invention, and as shown in fig. 1, a low-frequency active vibration suppression hybrid controller includes: input port, feedback control circuit 001, feedforward control circuit 002, adder circuit 003 and output port. Wherein the input and output ports are not shown in fig. 1.
The input end of the feedback control circuit 001 and the input end of the feedforward control circuit 002 are both connected with the input port. The output end of the feedback control circuit 001 and the output end of the feedforward control circuit 002 are both connected with the input end of the adder circuit 003. The output terminal of the adder circuit 003 is connected to the output port.
The adder circuit 003 is configured to sum the voltage signals output from the feedback control circuit 001 and the feedforward control circuit 002, and to adjust the damping value of the feedforward control circuit 002 and the stiffness value of the feedback control circuit 001.
In the above FIG. 1, VI-fbFor the voltage signal, V, representing speed information input to the feedback control circuit 001I-ffIs a voltage signal representing speed information input to the feedforward control circuit 002. V1outVoltage signal, V, output for feedback control circuit 0012outThe voltage signal outputted by the feedforward control circuit 002, the output signals of the feedback control circuit 001 and the feedforward control circuit 002 are finally inputted into the adder circuit 003, and the output signal of the adder circuit 003 is the output signal V of the hybrid controllerout。
Preferably, the feedback control circuit 001 includes: a first voltage following module 101, a first high-pass filtering module 102, a low-pass filtering module 103 and an inverse amplifying module 104.
The input end of the first voltage following module 101 is connected to the input port. The output end of the first voltage following module 101 is connected to the input end of the first high-pass filtering module 102. The output end of the first high-pass filtering module 102 is connected with the input end of the low-pass filtering module 103. The output end of the low-pass filtering module 103 is connected with the input end of the inverse amplifying module 104. The output end of the inverse amplification module 104 is connected to the output port.
Preferably, as shown in fig. 2, the low-pass filtering module 103 includes: a ninth resistor R9, an eleventh resistor R11, an eighth capacitor C8, a thirteenth resistor C13 and a seventh operational amplifier U7.
One end of the ninth resistor R9 is connected to the input end of the low-pass filter module 103. The other end of the ninth resistor R9, one end of the thirteenth resistor R13 and one end of the eighth capacitor C8 are all connected to the inverting input terminal of the seventh operational amplifier U7. The other end of the thirteen resistor R13 and the other end of the eighth capacitor C8 are both connected with the output end of the seventh operational amplifier U7. The output end of the seventh operational amplifier U7 is connected to the output end of the low pass filter module 103. One end of the eleventh resistor R11 is connected to the non-inverting input terminal of the seventh operational amplifier U7. The other end of the eleventh resistor R11 is grounded.
The thirteenth resistor R13 is an adjustable resistor
Wherein the circuit transfer function of the low-pass filter circuit 103
It is known that the low-pass filter circuit 103 is substantially a first-order low-pass filter, and the purpose of the low-pass filter is to restrict the control bandwidth of the feedback control element. Specifically, the cut-off frequency of the low-pass filter can be adjusted by changing the resistance value of the resistor R13, so that the control bandwidth adjustment of a feedback control link is further realized, the control bandwidth adjustment can be carried out according to the actual control performance requirement, and the controller circuit has certain environmental adaptability.
Wherein S is a transfer function, R9Resistance value of ninth resistor, C8Is the capacitance value of the eighth capacitor, R13Is the resistance of the thirteenth resistor.
Preferably, as shown in fig. 3, the inverse amplification module 104 includes: a fourteenth resistor R14, a fifteenth resistor R15, and an eighth operational amplifier U8.
One end of the fourteenth resistor R14 is connected to the input end of the inverting amplification module. The other end of the fourteenth resistor R14 and one end of the fifteenth resistor R15 are both connected to the inverting input terminal of the eighth operational amplifier U8. The other end of the fifteenth resistor R15 is connected to the output terminal of the eighth operational amplifier U8. The output end of the eighth operational amplifier U8 is connected with the output end of the inverting amplification module. The non-inverting input of the eighth operational amplifier U8 is connected to ground.
The reverse amplification module 104 is used to make the output signal of the feedback control circuit 001 and the output signal of the feedforward control circuit 002 in phase, so that the two output signals can be summed by the adder circuit 003.
Preferably, as shown in fig. 1, the feedforward control circuit 002 includes: a second voltage following module 201, a second high pass filtering module 202, a sensor compensation module 203, and a feed forward low frequency improvement module 204.
The input end of the second voltage following module 201 is connected with the input port. The output end of the second voltage following module 201 is connected with the input end of the second high-pass filtering module 202. The output end of the second high-pass filtering module 202 is connected with the input end of the sensor compensation module 203. The output of the sensor compensation module 203 is connected to the input of the feed forward low frequency improving module 204. The output end of the feed-forward low frequency improving module 204 is connected with the output port.
Preferably, the circuit structures and functions of the first voltage follower module 101 and the second voltage follower module 201 are completely the same, and both are for isolating the hybrid controller circuit from the previous stage circuit and avoiding the mutual influence between the previous stage circuit and the previous stage circuit.
As shown in fig. 4, the first voltage follower module 101 and the second voltage follower module 201 each include a first operational amplifier U1.
The inverting input terminal of the first operational amplifier U1 is the input terminal of the first voltage follower module 101 or the input terminal of the second voltage follower module 201. The inverting input of the first operational amplifier U1 is connected to the output of the first operational amplifier U1. The non-inverting input of the first operational amplifier U1 is connected to ground. The output end of the first operational amplifier U1 is the output end of the first voltage follower module 101 or the output end of the second voltage follower module 201.
Preferably, as shown in fig. 5, the first high-pass filtering module 102 and the second high-pass filtering module 202 each include: a first capacitor C1, a first resistor C2, and a second operational amplifier U2.
One end of the first capacitor C1 is connected to the input end of the first high-pass filter module 102 or the input end of the second high-pass filter module 202. The other end of the first capacitor C1 and one end of the first resistor R1 are both connected to the non-inverting input terminal of the second operational amplifier U2. The other end of the first resistor R1 is grounded. The inverting input of the second operational amplifier U2 is connected to the output of the second operational amplifier U2. The output terminal of the second operational amplifier U2 is connected to the output terminal of the first high-pass filtering module 102 or the output terminal of the second high-pass filtering module 202.
Because the structures and functions of the two circuit modules are the same, the circuit transfer functions of the two circuit modules are the same
The resistance value of the resistor and the capacitance value of the capacitor in the high-pass filter circuit are calculated and selected, so that the first high-pass filter circuit and the second high-pass filter circuit have extremely low cut-off frequency, direct-current components in circuit signals are filtered, and the instability of the circuit caused by the problem of circuit saturation is avoided.
In the formula, R1Resistance value of the first resistor, C1Is the capacitance value of the first capacitor.
Preferably, as shown in fig. 6, the sensor compensation module 203 includes: the circuit comprises a second resistor R2, a second capacitor C2, a third capacitor C3, a third resistor R3, a fourth resistor R4, a fourth capacitor C4, a fifth resistor R5 and a fourth operational amplifier U4.
One end of the second resistor R2 and one end of the second capacitor C2 are both connected to the input terminal of the sensor compensation module 203. The other end of the second resistor R2, the other end of the second capacitor C2 and one end of the third capacitor C3 are all connected with one end of the third resistor R3. The other end of the third capacitor C3 is grounded. The other end of the third resistor R3, one end of the fifth resistor R5 and one end of the fourth capacitor C4 are all connected to the inverting input terminal of the fourth operational amplifier U4. The other end of the fifth resistor R5 and the other end of the fourth capacitor C4 are both connected with the output end of the fourth operational amplifier U4. The output of the fourth operational amplifier U4 is connected to the output of the sensor compensation module 203. One end of the fourth resistor R4 is connected to the non-inverting input of the fourth operational amplifier U4. The other end of the fourth resistor R4 is grounded.
The second resistor R2, the third resistor R4 and the fifth resistor R5 are all adjustable resistors.
Further, based on the transfer function of the sensor compensation module 203
Therefore, by changing the resistance value of the resistor R2, the cut-off frequency of the first-order differential element in the circuit module can be adjusted, so that the cut-off frequency is kept the same as the cut-off frequency of the high-pass filtering element in the pre-stage sensor signal processing circuit, and the controller circuit can be changed when the pre-stage circuit is changed, thereby having certain environmental adaptability.
The low-frequency cut-off frequency of the weak integrator can be adjusted by changing the value of the resistor R3, so that the adjustment of the low-frequency control bandwidth of the controller is realized, the adjustment of the low-frequency control bandwidth can be carried out according to the actual control performance requirement, and the controller circuit has certain environmental adaptability.
Preferably, the resistor R5 is an adjustable resistor, and the function of the resistor R3 is consistent, that is, by changing the value of the resistor R5, the low-frequency cut-off frequency of the weak integrator can be adjusted, so that the adjustment of the low-frequency control bandwidth of the controller is realized, and the cut-off frequency requirements of the front weak integrator and the cut-off frequency of the rear weak integrator are consistent.
Still further, in the actual use process of the circuit, the resistance values of the resistors R2, R3 and R5 are adjusted as follows:
the resistance value of the resistor R2 is determined and adjusted according to the front-stage circuit, the resistance value of the resistor R3 is determined and adjusted according to the low-frequency control bandwidth requirement, and the resistance value of the resistor R5 is determined and adjusted according to the low-frequency control bandwidth requirement.
Preferably, as shown in fig. 7, the feed-forward low-frequency improving module 204 includes: a seventh resistor R7, a sixth capacitor C6, an eighth resistor R8, a seventh capacitor C7, a twelfth resistor R12, a tenth resistor R10 and a sixth operational amplifier U6.
One end of the seventh resistor R7 is connected to the input end of the feedforward low-frequency improving module 204. The other end of the seventh resistor R7 and one end of the sixth capacitor C6 are both connected to one end of the eighth resistor R8. The other end of the sixth capacitor C6 is grounded. The other end of the eighth resistor R8, one end of the twelfth resistor R12 and one end of the seventh capacitor C7 are all connected to the inverting input terminal of the sixth operational amplifier U6. The other end of the twelfth resistor R12 and the other end of the seventh capacitor C7 are both connected to the output terminal of the sixth operational amplifier U6. One end of the tenth resistor R10 is connected to the non-inverting input of the sixth operational amplifier U6. The other end of the tenth resistor R10 is grounded.
The eighth resistor R8 and the twelfth resistor R12 are both adjustable resistors.
Similar to the sensor compensation circuit 203, the feedforward low-frequency improving module 204 uses a second-order weak integration element to replace an integration element in the feedforward control model, limits the gain of the input signal in the low-frequency band, prevents the circuit saturation caused by low-frequency noise interference, further improves the amplitude characteristic and the phase characteristic of a feedforward controller in the circuit in the low-frequency band, and improves the system stability of the controller.
Further, the circuit transfer function of the feed-forward low frequency improving circuit 204
Therefore, the low-frequency cut-off frequency of the weak integrator can be adjusted by changing the resistance value of the resistor R8, so that the low-frequency control bandwidth of the controller can be adjusted, the low-frequency control bandwidth can be adjusted according to actual control performance requirements, and the controller circuit has certain environmental adaptability. Furthermore, the resistor R12 preferably acts as an adjustable resistor in accordance with the resistor R8, i.e. byThe low-frequency cut-off frequency of the weak integrator can be adjusted by changing the value of the resistor R12, so that the adjustment of the low-frequency control bandwidth of the controller is realized, and the cut-off frequency requirements of the front weak integrator and the rear weak integrator are kept consistent.
In the formula, C6Is the capacitance value of the sixth capacitor, C7Is the capacitance value R of the seventh capacitor7Is the resistance value of the 7 th resistor, R8Is the resistance value of the eighth resistor, R12Is the resistance of the twelfth resistor.
Still further, in the actual use process of the circuit, the resistance values of the resistors R8 and R12 are adjusted as follows:
the resistance value of the resistor R8 is determined and adjusted according to the low-frequency control bandwidth requirement, and then the resistance value of the resistor R12 is determined and adjusted according to the low-frequency control bandwidth requirement.
Preferably, as shown in fig. 8, the adder circuit 003 includes: a seventeenth resistor R17, a sixteenth resistor R16, an eighteenth resistor R18, a nineteenth resistor R19, and a ninth operational amplifier U9.
One end of the seventeenth resistor R17 is connected to the output end of the feedback control circuit 001. One end of the sixteenth resistor R16 is connected to the output end of the feedforward control circuit 002. The other end of the seventeenth resistor R17, the other end of the sixteenth resistor R16 and one end of the nineteenth resistor R19 are all connected to the inverting input terminal of the ninth operational amplifier U9. The other end of the nineteenth resistor R19 is connected to the output terminal of the ninth operational amplifier U9. The output of the ninth operational amplifier U9 is connected to the output port. One end of the eighteenth resistor R18 is connected to the non-inverting input terminal of the ninth operational amplifier U9. The other end of the eighteenth resistor R18 is grounded.
In a specific application, as shown in fig. 8, the INPUT1 port may be connected to an output port of the feedback control circuit 001, and the INPUT2 port may be connected to an output port of the feedforward control circuit 002, so as to sum the voltage signals output by the feedback control circuit 001 and the feedforward control circuit 002 for driving the actuator subsequently. On the other hand, the adder circuit 003 can adjust the damping value and the stiffness value of the control model, can adapt to the change of the control object, and has good object applicability.
Further, a resistor R16 and a resistor R17 in the adder circuit 003 are both adjustable resistors, wherein the resistor R16 affects a feedforward control link, and the resistor R17 affects a feedback control link. By changing the resistance of the resistor R16, the rigidity adjustment of the feedforward control model can be realized so as to adapt to the change of the control object. By changing the resistance of the resistor R17, the gain of the feedback control circuit 001 can be adjusted, thereby realizing the adjustment of the system damping value.
Still further, in the actual use process of the circuit, the resistance values of the resistors R16 and R17 are adjusted as follows: after the resistances of the resistors R2, R3, R5, R7 and R12 are confirmed, the gain value of the feedforward circuit is calculated, and the resistance value of the resistor R16 is determined according to the rigidity value of the actual model. After the resistance value of the resistor R13 is confirmed, the resistance value of the resistor R17 is appropriately adjusted according to the actual control effect.
Based on the above contents, the low-frequency active vibration suppression hybrid controller provided by the invention also has the following advantages:
1. and the feedforward control and the feedback control are combined to realize the hybrid control. The hybrid control method reduces the performance requirements of each sub-method, and achieves similar isolation effects through complementation of advantages and disadvantages among the sub-methods. The feedforward control can further improve the vibration suppression performance of the active vibration suppression system, and the feedback control provides enough stability for the active vibration suppression system.
2. The design of using weak integrator in the circuit, namely the transfer function of circuit construction first order integral link, establish in series to the circuit network, weak integrator has low pass characteristic, can carry out the amplitude limit to the gain of input signal in low frequency department to resist the circuit saturation problem that causes because of low frequency interference, improve the controllability of controller at low frequency.
3. The weak integrator is improved, and the gain of the controller to the input signal at low frequency is lowered by increasing the order of the integration link. Meanwhile, the phase offset and amplitude loss of the high-order weak integrator at the low frequency are smaller, the accuracy of a forward channel model of the controller is higher, the phase characteristic and the amplitude characteristic of the controller at the low frequency are further improved, and the vibration control performance of the system is enhanced.
4. The parameters of the low-frequency active vibration suppression hybrid controller are flexible and adjustable, and corresponding controller parameters (damping values, rigidity values, control bandwidth and the like) can be adjusted according to application object differences and control performance requirements in different application occasions, so that the controller parameters can adapt to the change of an application object, meanwhile, the requirement for changing the vibration suppression bandwidth of the controller is met, and the controller has good object applicability and environmental adaptability.
5. By adopting the analog circuit to design the controller, the vibration control effect equivalent to that of a digital controller can be realized in partial vibration suppression application occasions. Compared with a controller designed by a digital circuit, the circuit of the invention has the advantages of simple structural design, low development cost, short verification period of the principle of the method, easy realization of light weight and wider application range.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A low frequency active damping hybrid controller, comprising: the device comprises an input port, a feedback control circuit, a feedforward control circuit, an adder circuit and an output port;
the input end of the feedback control circuit and the input end of the feedforward control circuit are both connected with the input port; the output end of the feedback control circuit and the output end of the feedforward control circuit are both connected with the input end of the adder circuit; the output end of the adder circuit is connected with the output port;
the adder circuit is used for summing the voltage signals output by the feedback control circuit and the feedforward control circuit and adjusting the damping value of the feedforward control circuit and the rigidity value of the feedback control circuit;
the feedback control circuit includes: the device comprises a first voltage following module, a first high-pass filtering module, a low-pass filtering module and a reverse amplification module;
the input end of the first voltage following module is connected with the input port; the output end of the first voltage following module is connected with the input end of the first high-pass filtering module; the output end of the first high-pass filtering module is connected with the input end of the low-pass filtering module; the output end of the low-pass filtering module is connected with the input end of the reverse amplification module; the output end of the reverse amplification module is connected with the output port;
the feedforward control circuit includes: the second voltage following module, the second high-pass filtering module, the sensor compensation module and the feedforward low-frequency improving module;
the input end of the second voltage following module is connected with the input port; the output end of the second voltage following module is connected with the input end of the second high-pass filtering module; the output end of the second high-pass filtering module is connected with the input end of the sensor compensation module; the output end of the sensor compensation module is connected with the input end of the feedforward low-frequency improvement module; the output end of the feedforward low-frequency improving module is connected with the output port;
the adder circuit includes: a seventeenth resistor, a sixteenth resistor, an eighteenth resistor, a nineteenth resistor, and a ninth operational amplifier;
one end of the seventeenth resistor is connected with the output end of the feedback control circuit; one end of the sixteenth resistor is connected with the output end of the feedforward control circuit; the other end of the seventeenth resistor, the other end of the sixteenth resistor and one end of the nineteenth resistor are connected with the inverting input end of the ninth operational amplifier; the other end of the nineteenth resistor is connected with the output end of the ninth operational amplifier; the output end of the ninth operational amplifier is connected with the output port; one end of the eighteenth resistor is connected with the non-inverting input end of the ninth operational amplifier; the other end of the eighteenth resistor is grounded;
the seventeenth resistor and the sixteenth resistor are both adjustable resistors.
2. The low frequency active vibration suppression hybrid controller according to claim 1, wherein the low pass filtering module comprises: a ninth resistor, an eleventh resistor, an eighth capacitor, a thirteenth resistor and a seventh operational amplifier;
one end of the ninth resistor is connected with the input end of the low-pass filtering module; the other end of the ninth resistor, one end of the thirteenth resistor and one end of the eighth capacitor are all connected with the inverting input end of the seventh operational amplifier; the other end of the thirteen resistor and the other end of the eighth capacitor are both connected with the output end of the seventh operational amplifier; the output end of the seventh operational amplifier is connected with the output end of the low-pass filtering module; one end of the eleventh resistor is connected with the non-inverting input end of the seventh operational amplifier; the other end of the eleventh resistor is grounded;
the thirteenth resistor is an adjustable resistor.
3. The low frequency active vibration suppression hybrid controller according to claim 1, wherein the reverse amplification module comprises: a fourteenth resistor, a fifteenth resistor, and an eighth operational amplifier;
one end of the fourteenth resistor is connected with the input end of the reverse amplification module; the other end of the fourteenth resistor and one end of the fifteenth resistor are both connected with the inverting input end of the eighth operational amplifier; the other end of the fifteenth resistor is connected with the output end of the eighth operational amplifier; the output end of the eighth operational amplifier is connected with the output end of the reverse amplification module; and the non-inverting input end of the eighth operational amplifier is grounded.
4. The low frequency active vibration suppression hybrid controller according to claim 1, wherein the first voltage follower module and the second voltage follower module each comprise a first operational amplifier;
the inverting input end of the first operational amplifier is the input end of the first voltage following module or the input end of the second voltage following module; the inverting input end of the first operational amplifier is connected with the output end of the first operational amplifier; the non-inverting input end of the first operational amplifier is grounded; the output end of the first operational amplifier is the output end of the first voltage following module or the output end of the second voltage following module.
5. The low frequency active vibration suppression hybrid controller according to claim 1, wherein the first high pass filtering module and the second high pass filtering module each comprise: the first capacitor, the first resistor and the second operational amplifier;
one end of the first capacitor is connected with the input end of the first high-pass filtering module or the input end of the second high-pass filtering module; the other end of the first capacitor and one end of the first resistor are both connected with the non-inverting input end of the second operational amplifier; the other end of the first resistor is grounded; the inverting input end of the second operational amplifier is connected with the output end of the second operational amplifier; and the output end of the second operational amplifier is connected with the output end of the first high-pass filtering module or the output end of the second high-pass filtering module.
6. The low frequency active vibration suppression hybrid controller according to claim 1, wherein the sensor compensation module comprises: the second resistor, the second capacitor, the third resistor, the fourth capacitor, the fifth resistor and the fourth operational amplifier;
one end of the second resistor and one end of the second capacitor are both connected with the input end of the sensor compensation module; the other end of the second resistor, the other end of the second capacitor and one end of the third capacitor are connected with one end of the third resistor; the other end of the third capacitor is grounded; the other end of the third resistor, one end of the fifth resistor and one end of the fourth capacitor are all connected with the inverting input end of the fourth operational amplifier; the other end of the fifth resistor and the other end of the fourth capacitor are both connected with the output end of the fourth operational amplifier; the output end of the fourth operational amplifier is connected with the output end of the sensor compensation module; one end of the fourth resistor is connected with the non-inverting input end of the fourth operational amplifier; the other end of the fourth resistor is grounded;
the second resistor, the third resistor and the fifth resistor are all adjustable resistors.
7. The low frequency active damping hybrid controller according to claim 1, wherein the feed forward low frequency improvement module comprises: a seventh resistor, a sixth capacitor, an eighth resistor, a seventh capacitor, a twelfth resistor, a tenth resistor and a sixth operational amplifier;
one end of the seventh resistor is connected with the input end of the feedforward low-frequency improving module; the other end of the seventh resistor and one end of the sixth capacitor are both connected with one end of the eighth resistor; the other end of the sixth capacitor is grounded; the other end of the eighth resistor, one end of the twelfth resistor and one end of the seventh capacitor are all connected with the inverting input end of the sixth operational amplifier; the other end of the twelfth resistor and the other end of the seventh capacitor are both connected with the output end of the sixth operational amplifier; one end of the tenth resistor is connected with the non-inverting input end of the sixth operational amplifier; the other end of the tenth resistor is grounded;
the eighth resistor and the twelfth resistor are both adjustable resistors.
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