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　　實驗名稱：直升機機身(shen)的多諧波多輸入多輸出振(zhen)動(dong)主動(dong)控制試驗研究

　　實驗原理：首先采用(yong)一個(ge)由(you)Z-11直升機地板模(mo)型縮比而來并且與(yu)Z-11直升機動力(li)學相似的(de)框架(jia)模(mo)型作為(wei)研究對象，將(jiang)壓電(dian)疊層作動器整合到受控(kong)(kong)結(jie)構中，通(tong)過數字(zi)信號處理(li)器作為(wei)試(shi)驗系統的(de)控(kong)(kong)制(zhi)器，整合搭建(jian)了壓電(dian)疊層作動器驅動的(de)直升機機身多(duo)諧波多(duo)輸(shu)入多(duo)輸(shu)出振動主動控(kong)(kong)制(zhi)試(shi)驗系統，并且離線測量了搭建(jian)好的(de)試(shi)驗系統的(de)控(kong)(kong)制(zhi)通(tong)道傳遞(di)函數。

　　試(shi)(shi)驗系統中，采(cai)用(yong)一個框(kuang)架試(shi)(shi)驗模型模擬Z-11直(zhi)升(sheng)機座艙用(yong)來進(jin)行振(zhen)動主動控制試(shi)(shi)驗，其材料選用(yong)45號(hao)鋼，總質(zhi)量為15.7kg。加工完成的(de)框(kuang)架試(shi)(shi)驗模型如圖a所示。

　　圖(tu)a直(zhi)升機(ji)地板框架(jia)實驗模型(xing)

　　壓(ya)電(dian)(dian)(dian)(dian)(dian)疊(die)層作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)通過兩端的(de)內螺紋與外部結構相(xiang)連，壓(ya)電(dian)(dian)(dian)(dian)(dian)疊(die)層作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)不能承(cheng)受拉(la)力和彎矩，否(fou)則壓(ya)電(dian)(dian)(dian)(dian)(dian)薄片(pian)之間(jian)的(de)連接會發生脆性(xing)斷裂(lie)從而導致壓(ya)電(dian)(dian)(dian)(dian)(dian)疊(die)層作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)損(sun)壞失(shi)效。因此在實際使(shi)用中，為(wei)了避免拉(la)力，安裝(zhuang)(zhuang)(zhuang)壓(ya)電(dian)(dian)(dian)(dian)(dian)疊(die)層作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)時會在兩端施加一(yi)定的(de)預緊力，并(bing)且(qie)避免使(shi)用負(fu)電(dian)(dian)(dian)(dian)(dian)壓(ya)驅動(dong)(dong)(dong)(dong)(dong)壓(ya)電(dian)(dian)(dian)(dian)(dian)疊(die)層作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)；為(wei)了避免壓(ya)電(dian)(dian)(dian)(dian)(dian)疊(die)層作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)承(cheng)彎，在安裝(zhuang)(zhuang)(zhuang)壓(ya)電(dian)(dian)(dian)(dian)(dian)疊(die)層作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)時將一(yi)個彈性(xing)較與作(zuo)動(dong)(dong)(dong)(dong)(dong)器(qi)并(bing)聯安裝(zhuang)(zhuang)(zhuang)，安裝(zhuang)(zhuang)(zhuang)形式如圖b所示。

　　圖b壓電疊層作動器安裝形式

　　圖(tu)c實(shi)驗系統(tong)原理框圖(tu)

　　測試設備：信(xin)號發生器(qi)、ATA-P0102功率放大器(qi)、壓電疊堆(dui)、DSP、信(xin)號調理模塊、計算機

　　實驗過程：DSP內部的(de)信(xin)(xin)號(hao)發生(sheng)器(qi)(qi)(qi)生(sheng)成數(shu)(shu)字激(ji)(ji)(ji)勵(li)信(xin)(xin)號(hao)通(tong)(tong)過(guo)D/A轉換為模(mo)(mo)擬(ni)信(xin)(xin)號(hao)，然后(hou)通(tong)(tong)過(guo)低通(tong)(tong)濾(lv)波和功率放大器(qi)(qi)(qi)放大后(hou)輸入到(dao)電(dian)磁激(ji)(ji)(ji)振(zhen)器(qi)(qi)(qi)對框架結(jie)構產(chan)生(sheng)激(ji)(ji)(ji)勵(li)響(xiang)(xiang)應(ying)(ying)，模(mo)(mo)擬(ni)旋翼在(zai)直升(sheng)機(ji)座(zuo)艙地(di)板產(chan)生(sheng)的(de)振(zhen)動(dong)響(xiang)(xiang)應(ying)(ying)。加速(su)度傳(chuan)感器(qi)(qi)(qi)采集待減(jian)振(zhen)點處的(de)加速(su)度響(xiang)(xiang)應(ying)(ying)，并轉化為相應(ying)(ying)的(de)電(dian)信(xin)(xin)號(hao)，再由A/D采樣得到(dao)數(shu)(shu)字信(xin)(xin)號(hao)。采集到(dao)的(de)數(shu)(shu)字信(xin)(xin)號(hao)代入控制算法用來修(xiu)正得到(dao)壓(ya)電(dian)疊層作(zuo)動(dong)器(qi)(qi)(qi)的(de)驅(qu)動(dong)信(xin)(xin)號(hao)，驅(qu)動(dong)信(xin)(xin)號(hao)通(tong)(tong)過(guo)D/A轉換后(hou)經過(guo)低通(tong)(tong)濾(lv)波器(qi)(qi)(qi)和功率放大器(qi)(qi)(qi)輸入到(dao)壓(ya)電(dian)疊層作(zuo)動(dong)器(qi)(qi)(qi)，驅(qu)動(dong)結(jie)構產(chan)生(sheng)作(zuo)動(dong)響(xiang)(xiang)應(ying)(ying)來抵(di)消激(ji)(ji)(ji)勵(li)響(xiang)(xiang)應(ying)(ying)。同時，通(tong)(tong)過(guo)串口將誤(wu)差響(xiang)(xiang)應(ying)(ying)信(xin)(xin)號(hao)與(yu)作(zuo)動(dong)器(qi)(qi)(qi)驅(qu)動(dong)信(xin)(xin)號(hao)實時發送給(gei)計算機(ji)進行存儲。

　　多(duo)諧波(bo)多(duo)輸入多(duo)輸出(chu)前饋自適(shi)應控制(zhi)算(suan)法(fa)(fa)需要(yao)準(zhun)確的(de)(de)(de)控制(zhi)通(tong)道(dao)(dao)的(de)(de)(de)傳(chuan)遞(di)函(han)數(shu)(shu)(shu)來保證控制(zhi)算(suan)法(fa)(fa)的(de)(de)(de)收斂。本(ben)實驗(yan)通(tong)過(guo)(guo)識別離線測量(liang)的(de)(de)(de)方法(fa)(fa)，采(cai)集并計算(suan)得到(dao)(dao)了(le)(le)直(zhi)升機機身(shen)振(zhen)(zhen)動(dong)主動(dong)控制(zhi)試(shi)驗(yan)系統(tong)的(de)(de)(de)控制(zhi)通(tong)道(dao)(dao)傳(chuan)遞(di)函(han)數(shu)(shu)(shu)，測量(liang)試(shi)驗(yan)的(de)(de)(de)原理(li)圖如(ru)圖c所(suo)(suo)示。數(shu)(shu)(shu)字信號(hao)(hao)發(fa)生(sheng)(sheng)器產(chan)生(sheng)(sheng)正(zheng)弦激(ji)勵信號(hao)(hao)，經(jing)過(guo)(guo)D/A轉換(huan)和(he)低通(tong)濾波(bo)后，再經(jing)過(guo)(guo)功率放大驅動(dong)壓電疊(die)層作(zuo)動(dong)器對框架施加(jia)作(zuo)動(dong)力。作(zuo)動(dong)力在(zai)待減振(zhen)(zhen)點處產(chan)生(sheng)(sheng)作(zuo)動(dong)響(xiang)應，并由安裝在(zai)待減振(zhen)(zhen)點的(de)(de)(de)加(jia)速(su)(su)(su)度(du)傳(chuan)感器測量(liang)。測量(liang)的(de)(de)(de)加(jia)速(su)(su)(su)度(du)信號(hao)(hao)經(jing)過(guo)(guo)低通(tong)濾波(bo)和(he)A/D轉換(huan)后得到(dao)(dao)數(shu)(shu)(shu)字信號(hao)(hao)，與激(ji)勵信號(hao)(hao)一起通(tong)過(guo)(guo)串口(kou)實時傳(chuan)送(song)到(dao)(dao)計算(suan)機上。計算(suan)機對數(shu)(shu)(shu)據進行抓包(bao)和(he)解(jie)碼處理(li)后，計算(suan)加(jia)速(su)(su)(su)度(du)信號(hao)(hao)和(he)激(ji)勵信號(hao)(hao)的(de)(de)(de)幅值比(bi)和(he)相位差，即可得到(dao)(dao)控制(zhi)通(tong)道(dao)(dao)的(de)(de)(de)傳(chuan)遞(di)函(han)數(shu)(shu)(shu)。試(shi)驗(yan)中，采(cai)樣頻(pin)率設為f=975Hz，激(ji)勵信號(hao)(hao)頻(pin)率參(can)考Z-11型直(zhi)升機，分別測量(liang)了(le)(le)19.5Hz和(he)39Hz的(de)(de)(de)控制(zhi)通(tong)道(dao)(dao)傳(chuan)遞(di)函(han)數(shu)(shu)(shu)，結果如(ru)表(biao)(biao)1和(he)表(biao)(biao)2所(suo)(suo)示。需要(yao)指出(chu)的(de)(de)(de)是,控制(zhi)通(tong)道(dao)(dao)的(de)(de)(de)傳(chuan)遞(di)函(han)數(shu)(shu)(shu)除了(le)(le)作(zuo)動(dong)器和(he)試(shi)驗(yan)框架模型的(de)(de)(de)動(dong)態特性，還包(bao)括(kuo)了(le)(le)功率放大器放大倍數(shu)(shu)(shu)、傳(chuan)感器的(de)(de)(de)靈敏度(du)以及A/D轉換(huan)和(he)D/A轉換(huan)的(de)(de)(de)精(jing)度(du)。

　　表119.5Hz控制(zhi)通(tong)道傳遞函數

　　表239Hz控制通道(dao)傳(chuan)遞函數

　　實驗結果：根據Z-11直升(sheng)機機身上(shang)實測的(de)振(zhen)(zhen)(zhen)(zhen)動(dong)響應(ying)信(xin)號，單諧(xie)波激(ji)(ji)勵(li)的(de)頻率(lv)選(xuan)取為第一階(jie)槳葉通(tong)過(guo)頻率(lv)ω1=NbΩ=19.5Hz。Z-11直升(sheng)機機身振(zhen)(zhen)(zhen)(zhen)動(dong)的(de)一階(jie)通(tong)過(guo)頻率(lv)加速(su)度響應(ying)為0.95m/s，為了(le)使兩(liang)個(ge)待減(jian)振(zhen)(zhen)(zhen)(zhen)點(dian)在無(wu)控制(zhi)時的(de)振(zhen)(zhen)(zhen)(zhen)動(dong)加速(su)度水(shui)平與Z-11直升(sheng)機相同，設置激(ji)(ji)勵(li)信(xin)號的(de)幅值為Xe(t)=1.465×sin(2πω1t)。激(ji)(ji)勵(li)信(xin)號經過(guo)放(fang)大(da)后(hou)驅(qu)動(dong)電磁激(ji)(ji)振(zhen)(zhen)(zhen)(zhen)器對框架試(shi)驗(yan)模型的(de)激(ji)(ji)勵(li)點(dian)1進行激(ji)(ji)勵(li)，激(ji)(ji)振(zhen)(zhen)(zhen)(zhen)力沿Z方向，激(ji)(ji)振(zhen)(zhen)(zhen)(zhen)點(dian)位于框架結構的(de)中性(xing)線上(shang)，此時框架試(shi)驗(yan)模型僅垂向彎曲模態的(de)振(zhen)(zhen)(zhen)(zhen)動(dong)被(bei)激(ji)(ji)發(fa)。試(shi)驗(yan)研究中，采樣頻率(lv)為fs=975Hz，控制(zhi)算(suan)法的(de)諧(xie)波系(xi)數識(shi)別收(shou)斂(lian)系(xi)數取?1=0.03，歸一化LMS算(suan)法的(de)收(shou)斂(lian)系(xi)數取?0=0.001。別的(de)諧(xie)波系(xi)數向量初始值均(jun)為0。兩(liang)個(ge)減(jian)振(zhen)(zhen)(zhen)(zhen)點(dian)的(de)垂向加速(su)度響應(ying)如圖d和(he)圖e所(suo)示，四個(ge)壓電疊(die)層作動(dong)器的(de)驅(qu)動(dong)電壓如圖f到圖i所(suo)示。可以看出(chu)，振(zhen)(zhen)(zhen)(zhen)動(dong)主動(dong)控制(zhi)系(xi)統開始從10秒啟動(dong)后(hou)，兩(liang)個(ge)待減(jian)振(zhen)(zhen)(zhen)(zhen)點(dian)的(de)振(zhen)(zhen)(zhen)(zhen)動(dong)隨之衰(shuai)減(jian),并在10秒內逐漸收(shou)斂(lian)到穩定狀(zhuang)態。穩定控制(zhi)狀(zhuang)態下(xia)，兩(liang)個(ge)減(jian)振(zhen)(zhen)(zhen)(zhen)點(dian)的(de)振(zhen)(zhen)(zhen)(zhen)動(dong)響應(ying)分別降低了(le)97%和(he)98%。

　　圖d單諧(xie)波對稱激勵試驗(yan)待減振點1的垂(chui)向(xiang)加速度響應

　　圖e單諧波(bo)對稱(cheng)激(ji)勵試驗待減振點(dian)2的垂向加(jia)速度響應

　　圖f單諧波對稱激勵試驗壓電(dian)疊堆作(zuo)動器(qi)1的驅動電(dian)壓

　　圖g單諧(xie)波對稱激勵試(shi)驗壓電(dian)疊(die)堆作(zuo)動器2的驅動電(dian)壓

　　圖h單諧波對稱(cheng)激勵(li)試(shi)驗(yan)壓(ya)電疊(die)堆(dui)作(zuo)動(dong)器3的驅(qu)動(dong)電壓(ya)

　　圖i單諧波(bo)對稱激(ji)勵試驗壓(ya)電疊堆(dui)作動器3的驅動電壓(ya)

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