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Laser vision measurement and adaptive cooperative vibration control of double flexible beams
- Optics and Precision Engineering Vol. 31, Issue 22, Pages: 3245-3255(2023)
- 作者机构：
1.华南理工大学 机械与汽车工程学院，广东 广州 510641
- 作者简介：
- 基金信息：
DOI：10.37188/OPE.20233122.3245
CLC：
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邱志成,胡骏飞,李旻.双柔性梁振动激光视觉测量与自适应协同控制[J].光学精密工程,2023,31(22):3245-3255.
QIU Zhicheng,HU Junfei,LI Min.Laser vision measurement and adaptive cooperative vibration control of double flexible beams[J].Optics and Precision Engineering,2023,31(22):3245-3255.
邱志成,胡骏飞,李旻.双柔性梁振动激光视觉测量与自适应协同控制[J].光学精密工程,2023,31(22):3245-3255. DOI： 10.37188/OPE.20233122.3245.
QIU Zhicheng,HU Junfei,LI Min.Laser vision measurement and adaptive cooperative vibration control of double flexible beams[J].Optics and Precision Engineering,2023,31(22):3245-3255. DOI： 10.37188/OPE.20233122.3245.
摘要
双柔性梁耦合结构常用于航天领域，如太阳翼伸展结构、太阳能电池阵等。针对双柔性耦合梁系统振动非接触测量和控制问题，构建了基于点激光结构光视觉系统的测控实验平台，进行了点激光视觉振动测量研究和振动控制算法设计。对点激光视觉系统进行标定，通过图像处理结合几何方法提取了柔性梁的振动信号。建立了系统动力学模型，采用小波变换和优化方法辨识状态空间方程参数。设计了直接自适应模糊协同控制器（Direct Adaptive Fuzzy Cooperative Controller, DAFC）进行双柔性梁系统的振动主动控制，采用羚羊优化算法基于辨识模型优化控制器参数。在双柔性耦合梁系统固定和平移运动两种情况下，进行了振动视觉检测和控制实验研究。实验结果表明：所设计的点激光视觉传感器有较好的振动测量精度，DAFC控制器相比于PD控制器有更好的控制效果，可以更加快速地抑制双柔性耦合梁的振动。
Abstract
Double-flexible-beam-coupling structures are widely used in the aerospace field， such as in solar-wing-extension structures and solar-cell arrays. However， non-contact vibration measurements and system control are some issues associated with double-flexible-coupled-beam systems. To address these， herein， a measurement and control experimental platform based on a point-laser-structured-light-vision system was constructed， and point-laser-visual-vibration-measurement research and vibration-control-algorithm design were conducted. The point-laser-vision system was calibrated， and the vibration signal of the flexible beam was extracted via image processing combined with a geometric method. The system-dynamics model was established， and the parameters of the state-space equation were identified using a wavelet transform and optimization method. A direct adaptive fuzzy cooperative （DAFC） controller was designed to actively control the vibration of the double-flexible-beam system， and the Gazelle optimization algorithm was used to optimize the controller parameters based on the identification model. Visual-vibration detection and control experiments were conducted under fixed and translational motions of the double-flexible-coupled-beam system. The experimental results revealed that the designed point-laser-vision sensor demonstrated an improved vibration-measurement accuracy， and the DAFC controller exhibited a better control effect than the proportional derivative controller， as the former could suppress the vibrations of the double-flexible-coupling beam more rapidly.
关键词
激光视觉双柔性耦合梁自适应模糊协同控制羚羊优化算法
Keywords
laser visiondouble flexible coupled beamsadaptive fuzzy cooperative controlgazelle optimization algorithm
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