磁气混合隔振系统非线性耦合特性与自适应协同控制方法研究

The acoustic stealthy of the submarine will be seriously affected by the structural vibration noise caused by the power equipment which has such features as heavy weight, low rotational speed and wide variation. Compared with other passive vibration isolators, air spring has many advantages such as strong bearing capacity, low natural frequency, easy installation height adjustment, excellent medium high frequency vibration isolation performance, which has been gradually applied to the field of vibration isolation of submarine power equipment, and its isolation frequency range, vibration isolation performance have been greatly improved. However, the inherent shortcomings of poor low-frequency line spectrum vibration isolation performance cannot be completely overcome by air spring just as other passive vibration isolators. To solve this problem, the magnetic suspension vibration isolation technology is introduced to construct a magnetic-air active-passive hybrid vibration isolation system, which will achieve the full frequency domain isolation of the power equipment eventually. However, the magnetic-air active-passive hybrid vibration isolation system consisted by multiple magnetic-air active-passive hybrid vibration isolators is a typical nonlinear and strong coupling system. However, the air spring and the magnetic suspension isolator work in submarine condition with great nonlinearity. Moreover, there are strong coupling characteristics among of multiple magnetic-air active-passive hybrid vibration system. To achieve the full frequency domain isolation, attitude adjustment control of air spring and active vibration isolation control of magnetic suspension vibration isolator need to work cooperatively. These problems cannot be solved by existing vibration isolation theory and model. Therefore, the project will explore the related problems, including the structure innovation and the nonlinear characteristics of hybrid vibration isolator, the coupling relationship, the cooperative control mechanism and adaptive cooperative control strategy of the active-passive air-magnetic hybrid vibration isolation system. These studies establish the theoretical foundation for application of active-passive air-magnetic hybrid active vibration isolation technology in submarine power equipment noise and vibration reduction field.

潜艇动力设备重量大、工作转速低，其所激发的结构振动噪声严重影响潜艇的隐蔽性。气囊隔振器与其它被动隔振器相比具有承载大、安装高度易调整及中高频隔振性能好等优势，在舰船动力设备隔振领域逐渐应用并取得较好效果，然而其同样不能克服被动隔振固有的低频线谱隔振性能差的缺点。本项目提出引入磁悬浮主动隔振技术构成磁气主被动混合隔振系统，实现潜艇动力设备全频域隔振。然而，潜用条件下的磁气混合隔振系统是由多个具有强烈非线性特征的磁气主被动混合隔振器构成的机电磁气一体化的复杂耦合系统，且需要对气囊隔振器姿态调整与磁悬浮隔振器主动隔振共同施加控制协同工作，才能达到预期的全频域隔振效果，现有理论不能完全满足潜用要求。为此，本项目拟开展潜用条件下磁气混合隔振器的结构创新设计，深入研究其非线性特性，揭示磁气混合隔振系统的各种耦合规律，研究其协同控制机理和自适应协同控制策略，为其在潜艇动力设备隔振上的应用奠定理论基础。

鉴于气囊隔振器和磁悬浮隔振器在主被动隔振领域的优势，构建了磁气混合隔振器及混合隔振系统，针对磁气混合隔振系统的非线性耦合特性以及协同控制方法展开研究，具体研究内容和成果及数据如下：.（1）设计了磁气一体化主被动混合隔振器。得到了气囊承载力和轴向位移的关系，采用最小二乘法拟合出气囊的承载力模型，其最大误差不超过5%；分析了磁悬浮结构的瞬态磁场和静态磁场，交变电流的反电动势对磁悬浮中的磁场影响在1%以内。.（2）对气囊的气动力学特性、磁悬浮结构的动力学特性以及磁气混合隔振器的动态输出进行了研究。建立了具有阻尼回滞特性的非线性气动等效模型，结合实验数据，辨识出气囊等效模型的参数；依据等效磁场理论和反电动势，分析了磁悬浮结构的被动模式和主动模式的电流特性；分析了磁气混合隔振器的动力学特性，建立了磁气混合隔振器的动态输出特性和多参量强耦合动力学模型。.（3）搭建了磁气混合隔振系统平台，并对系统的非线性姿态耦合特性和非线性系统动力学特性进行了研究。分析平台姿态耦合规律，分别建立了系统平台的一般性六自由度和三自由度姿态解耦模型。分析了系统平台的非线性动态特性，分别建立了系统平台的六自由和三自由度动力学模型。.（4）对磁气混合隔振系统的协同控制法则和系统姿态控制策略进行了研究。研究了磁悬浮电磁力控制方式和气囊高度控制形式，提出了一种平台姿态调控和主动隔振控制的协同控制法则；分析气囊充排气特性，提出了一种多点姿态调节、以气囊高度为指标、最小偏差为目标的连续-脉冲分级充排气的姿态控制策略。.（5）针对磁气混合隔振系统本身的复杂、不确定性等特征，提出了一种基于加速度信号的Fx-LMS控制器，设计了磁气混合隔振系统自适应协同控制器，研制了满足多气囊姿态控制和自适应协同控制系统软硬件平台。实验结果表明，在7.5Hz处取得了14.5dB，幅值降低82.4%的减振效果，且在低频段都有较好的隔振效果。