基于PD控制算法的风洞模型主动振动控制技术

寇西平; 李斌斌; 杨智春; 曾开春; 杨兴华

doi:10.13224/j.cnki.jasp.20230685

基于PD控制算法的风洞模型主动振动控制技术

doi: 10.13224/j.cnki.jasp.20230685

寇西平^{1, 2,},
李斌斌^2,*, ,,
杨智春¹,
曾开春²,
杨兴华²

1.
西北工业大学航空学院，西安 710072
2.
中国空气动力研究与发展中心高速空气动力研究所，四川绵阳 621000

详细信息

作者简介:
寇西平（1987-），男，副研究员，博士生，主要研究方向为气动弹性力学。E-mail：kouxiping@cardc.cn

通讯作者:
李斌斌（1996-），男，博士生，主要研究方向为气动弹性力学与控制。E-mail：libinbin@ustc.edu

中图分类号: V216；V219
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出版历程
- 收稿日期: 2023-10-31
- 网络出版日期: 2024-08-13

Active vibration control technology of wind tunnel model based on PD control algorithm

KOU Xiping^{1, 2
,},
LI Binbin^{2,*
, ,},
YANG Zhichun¹,
ZENG Kaichun²,
YANG Xinghua²

1.
School of Aeronautics，Northwestern Polytechnical University，Xi’an 710072，China
2.
High Speed Aerodynamics Institute，China Aerodynamic Research and Development Center，Mianyang Sichuan 621000，China

摘要

摘要:
针对在跨声速风洞试验过程中试验模型出现的低频大幅振动现象，研制了一套基于压电陶瓷作动器的主动振动控制系统并设计了一种多模态PD控制算法，在数值仿真计算、地面试验和风洞试验中均取得了较好的控制效果。主动控制算法以抑制振幅最大的俯仰方向振动为目标，利用傅里叶级数对俯仰方向振动数据进行模态分解得到前两阶主振动模态，利用递推最小二乘法对单模态进行通道传递函数参数辨识，针对单模态通道传递函数设计控制算法。结果表明所采用的算法能够对被控对象实现较好的控制。将所设计的控制算法加载到主动振动抑制系统，通过地面调试验证和风洞试验，最终表明研制的减振系统能够实现对风洞模型振动的有效抑制，振动衰减可以达到 80%以上，风洞试验时长增加了50 s左右，增大试验攻角5°。研究具有工程实用价值，并且为后续开展多自由度控制、多执行机构协同控制、智能控制算法研究提供有力支撑。
- PD控制 /
- 风洞试验 /
- 主动振动控制 /
- 传递函数 /
- 系统建模 /
- 参数辨识
Abstract:
Considering the phenomenon of low frequency and large amplitude vibration of the test model in the process of transonic wind tunnel test, a multi-mode PD control algorithm was designed and good control effect was achieved in numerical simulation, ground test and wind tunnel test. The algorithm was designed to suppress the pitch direction vibration with the largest amplitude, the first two main vibration modes were obtained by modal decomposition of the pitching direction vibration data using Fourier series, the recursive least square method was used to identify the parameters of the channel transfer function of the single mode, the control algorithm was designed for the single-mode channel transfer function. The adopted theoretical methods and algorithm design ideas were discussed, and the methods adopted by numerical simulation were verified. The results showed that the algorithm can achieve better control of the controlled object. The designed control algorithm was loaded into the active vibration suppression system. Through ground debugging verification and wind tunnel test, it was finally shown that the developed damping system can effectively suppress the vibration of the wind tunnel model, and the vibration attenuation can reach more than 80%. The wind tunnel test duration increased by about 50 s, and the measured value of the test angle of attack balance increased to 5°. Thanks to its engineering practical value, this research can provide strong support for the follow-up research of multi-freedom control, multi-actuator collaborative control, and intelligent control algorithm.
- PD control /
- wind tunnel test /
- active vibration control /
- transfer function /
- system modeling /
- parameter identification

HTML

图 1 模态识别示意图

Figure 1. Schematic diagram of modal identification

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图 2 被控系统原理示意图

Figure 2. Schematic diagram of controlled system

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图 3 激励、响应信号示意图

Figure 3. Schematic diagram of excitation and response signals

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图 4 U₁、U₂幅频图

Figure 4. U₁，U₂ amplitude frequency diagram

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图 5 一阶正弦激励信号

Figure 5. First-order sine excitation signal

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图 6 一阶正弦激励下俯仰方向响应信号

Figure 6. Pitch direction response signal under first-order sine excitation

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图 7 一阶、二阶窄带白噪信号

Figure 7. First-order， second-order narrow band white noise signal

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图 8 一阶白噪声激励下俯仰方向一阶、二阶模态响应

Figure 8. First-order， second-order modal response in pitch direction under first-order white noise excitation

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图 9 一阶离散传函参数辨识结果

Figure 9. Identification results of first-order discrete transfer function parameters

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图 10 一阶模态传函频响分析结果

Figure 10. First-order modal transfer function frequency response analysis results

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图 11 二阶模态传函频响分析结果

Figure 11. Second-order modal transfer function frequency response analysis results

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图 12 一阶模态控制结果示意图

Figure 12. Schematic diagram of first-order modal control result

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图 13 二阶模态控制结果示意图

Figure 13. Schematic diagram of second-order modal control result

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图 14 主动振动控制系统试验台

Figure 14. Active vibration control system test bench

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图 15 主动振动控制系统硬件系统

Figure 15. Active vibration control system hardware system

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图 16 基于压电堆叠的主动减振原理图

Figure 16. Schematic diagram of active vibration reduction based on piezoelectric stacking

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图 17 基于减振系统地面调试结果

Figure 17. Ground commissioning results of damping system

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图 18 基于减振系统的风洞调试结果

Figure 18. Wind tunnel debugging results based on vibration reduction system

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表 1 不同g对应的一阶、二阶控制器参数

Table 1. First-order and second-order controller parameters corresponding to different g

g	K_p1	K_d1	K_p2	K_d2
0.3	−0.4192	−0.0103	−1.8940	−0.0049
0.5	−0.1796	−0.0044	−0.8117	−0.0021
0.7	−0.0770	−0.0019	−0.3479	−0.000901
0.9	−0.02	−0.00049	−0.0902	0.0002337
1	0	0	0	0

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