摘要
为揭示多自由度微陀螺非线性系统中速度反馈项对系统动力学特性的影响规律,探索减小或消除非线性影响的控制方法,以一类4自由度静电驱动微机械陀螺为研究对象,应用多尺度法分析了时滞速度反馈控制反馈增益对微陀螺输出响应的影响规律。研究发现:时滞量为零的条件下,反馈增益主要影响幅值大小;正的速度反馈增益会放大非线性的影响,系统出现新的不稳定区域,灵敏度稳定性遭到严重破坏;负的速度反馈增益对刚度非线性的影响有很好的控制作用,通过负增益的合理取值可完全消除刚度非线性的影响;提出了一种在不降低灵敏度的前提下利用速度反馈增益调阻作用来控制微陀螺灵敏度稳定性的方法,此方法为含刚度非线性多自由度微陀螺动态性能的优化和控制提供了理论依据。
To reveal the effect of velocity feedback on dynamic characteristics of multi-DOF micro-gyroscope nonlinear systems and explore control methods for nonlinearity,a class of 4-DOF electrostatically driven micro-gyroscopes is researched.The effect of the gain of the delay velocity feedback control on output response of micro-gyroscope is analyzed by multi-scale method.The research shows that the feedback gain mainly affects the amplitude when the time delay is zero.Positive velocity feedback gain amplifies the effect of nonlinearity and new unstable regions appear in the system,then the sensitivity stability is seriously damaged.The stiffness nonlinearity can be controlled well by negative velocity feedback gain and completely eliminated by the reasonable value of negative velocity feedback gain.A method for controlling the sensitivity stability of micro-gyroscopes by adjusting damping action of velocity feedback gain without reducing sensitivity is proposed,which provides a theoretical basis for the optimization and control of multi-DOF micro-gyroscopes with stiffness nonlinearity.
作者
郝淑英
宋宇昊
李伟雄
张琪昌
刘君
冯晶晶
HAO Shu-ying;SONG Yu-hao;LI Wei-xiong;ZHANG Qi-chang;LIU Jun;FENG Jing-jing(Tianjin Key Laboratory of Advanced Electromechanical System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Experimental Teaching Demonstration Center of Mechanical and Electrical Engineering,Tianjin University of Technology,Tianjin 300384,China;Tianjin Key Laboratory of Nonlinear Dynamics and Control,Tianjin University,Tianjin 300072,China;Zhengzhou Yutong Heavy Industry Co.Ltd.,Zhengzhou 450001,China)
出处
《振动工程学报》
EI
CSCD
北大核心
2021年第2期227-234,共8页
Journal of Vibration Engineering
基金
国家自然科学基金资助项目(12072234,11872044,12072233)
国家重点研发计划(2018YFB0106200)。
关键词
非线性振动
多自由度微陀螺
多尺度法
速度反馈
刚度非线性
nonlinear vibration
multi-DOF micro-gyroscope
multi-scale method
velocity feedback
stiffness nonlinearity
