Design And Implementation Of Structural Vibration Active Control Based On Inertia Actuator

Vibration suppression is essential to mitigate the unavoidable and negative effects of vibration phenomena in contemporary manufacturing industries.Meanwhile,integrating modular design principles with advanced control algorithms to actively suppress vibration has a wide range of potential applications.In this paper,an all-clamped plate with an inertial actuator is chosen to model the plate and shell structure,and the active control of vibration is done through simulation and experiment based on the theory of active disturbance rejection control(ADRC).The main research results and contributions are given as follows:Firstly,mathematical modeling and characterization of the all-clamped plate and inertial actuator device are carried out to provide the theoretical basis for the subsequent arrangement of sensors and actuators and the design of the controller.By considering an all-clamped plate with an inertial actuator as a whole,a mathematical model of the system as a whole is constructed to facilitate subsequent controller design.Secondly,this paper introduces the theory of active disturbance rejection control,and designs a basic active disturbance rejection controller on the system of an all-clamped plate with an inertial actuator and proves its stability,and verifies the superiority of its algorithm in vibration control through relevant experimental comparison with the traditional PID controller.Thirdly,to address the influence of multiple time-delay from the system itself and the actual experiments on the control effect,a time-delay part is introduced in the system modeling session to facilitate the design of the corresponding controller to compensate for the timedelay,and the proposed ADRC controller with time-delay compensation are compared with the conventional ADRC controller in the experiments to demonstrate the improvement of the control effect performance.Experimental results prove the control performance of the proposed control scheme.Fourthly,this paper introduces the idea of cascade ADRC control for the nonlinear characteristics of inertia actuator.The virtual intermediate variables are designed to suppress the influence of the inertial actuator structure characteristics through the inner loop,so as to weaken the influence of the system nonlinear characteristics on the control effect,and improve the response speed of the whole system,maintain low power consumption and optimize the vibration control effect.Finally,for the real system is a complex high-order nonlinear system which is susceptible to parameter uncertainty and external disturbances,this paper combines the sliding mode control with the ADRC control method,uses the extended state observer to compensate the disturbances of the system,optimizes the sliding mode control law to solve the parameter uncertainty and nonlinear effects,and realizes the composite ADRC controller for the smooth and stable control of an all-clamped plate with an inertial actuator,and verifies its effectiveness experimentally.