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针对自适应主动隔振中存在的控制器输出饱和,提出饱和抑制方法并进行算法仿真研究。该抑制方法基于跟踪滤波和归一化LMS算法,根据引起控制器饱和的直接原因提出约束优化函数,并在快速脱离饱和以及快速收敛的约束条件下确定权系数更新公式中的可变因子。新的自适应算法在理论上能够保证控制器尽快脱离输出饱和状态,使控制误差快速下降。以一个五自由度的振动系统进行算法数值仿真,并用Sigmoid函数描述饱和输出特性,显式表示可变因子,仿真结果表明所提方法能够有效地抑制输出饱和的不良影响,显著改善自适应主动隔振的控制效果。
Aiming at the saturation of controller output in adaptive active vibration isolation, a method of saturation suppression and algorithm simulation are proposed. The suppression method is based on tracking filter and normalized LMS algorithm. The constraint optimization function is proposed according to the direct cause of controller saturation, and the variable factors in the update formula of weight coefficients are determined under the constraints of fast desaturation and fast convergence. In theory, the new adaptive algorithm can ensure that the controller can get rid of the output saturation as soon as possible, and the control error rapidly decreases. A five-degree-freedom vibration system is used to simulate the algorithm. Sigmoid function is used to describe the saturated output characteristics, and the variable factors are explicitly expressed. The simulation results show that the proposed method can effectively suppress the adverse effects of output saturation and significantly improve the adaptive active space Vibration control effect.