【作者】 刘志强； 夏磊； 吴宾； 宦荣华； 黄志龙；

【Author】 Zhiqiang Liu;Lei Xia;Bin Wu;Ronghua Huan;Zhilong Huang;Department of Mechanics,Key Laboratory of Soft Machines and Smart,Zhejiang University;Advanced Technology Research Institute,Zhejiang University;

【机构】 浙江大学软机械与智能重点实验室； 浙江大学先进技术研究院；

【摘要】 与土木工程应用中的响应控制不同,力平衡传感系统中的激励是未知的,而控制器是为了实时测量未知激励而设计的。本文针对具有时滞的闭环力平衡传感系统提出了一种最优控制方法。通过引入测量误差作为新变量,将力平衡控制问题转化为具有时滞的响应最小化问题。然后,应用离散化方法,将连续时滞系统转化为无时滞的扩展离散系统,得到了最优力平衡控制力的解析表达式。为了说明所提出的控制方法的有效性,以一种实用的力平衡石英挠性加速度计(FBA)为例进行了优化控制。数值结果表明,该控制方法可以实现对宽带随机加速度信号的精确测量,其时延可达控制周期的10倍。此外,在保证测量精度的同时,该控制还能显著抑制FBA的振动响应,有利于获得较大的动态测量范围作为传感应用。更多还原

【Abstract】 Differing from the response control in civil and engineering application,the excitation in force-balance sensing system is unknown and the control is designed to measure the unknown excitation in real-time.In this paper,an optimal control for a close-loop force-balance sensing system with time-delay is proposed.By introducing the measurement errors as new variables,the force-balance control problem is transformed into a response minimization one with time-delay.Then,the discretization method is applied,the continuous time system with time-delay is converted into an extended discrete system without time-delay,from which the analytical expression of the optimal force-balance control force is obtained.To illustrate the effectiveness of the proposed control,the optimal control of a practical quartz flexible force-balance accelerometer(FBA) is solved as an application.Numerical results show that the proposed control can realize accurate measurement of wide-band random acceleration signals with a time-delay up to 10 times of control period.Besides,the proposed control can also significantly inhibit the vibration response of the FBA while guaranteeing the measurement accuracy,which will benefit the obtaining of a large dynamic measurement range as a sensing application.更多还原