Active vibration control of cantilevered pipes conveying fluid with gain scheduling controller

这项研究涉及输送流体的悬臂管道的稳定问题。为了抑制管道系统的不稳定现象，我们采用了所谓的增益调度技术。该控制设计程序由以下两个步骤组成。首先，对固定流速的管道系统进行了线性时不变(LTI)控制器设计。每种LTI控制器的设计都采用LQG控制律。然后，根据流速即调度参数对这些控制器进行调度。具体地，根据测量的流速对两种流速下的LO状态反馈增益和卡尔曼滤波增益进行线性内插。采用Galerkin方法对由管道系统和执行器组成的控制对象进行数学建模。实验装置由管道系统、激光传感器、AID转换器、PC机、D/A转换器、作为执行器的直流伺服电机和流量计组成，流量计测量控制器中使用的流速。仿真和实验研究结果表明，所设计的增益预定控制器对管道系统的不稳定现象具有良好的镇定性能。

This research deals with a stabilization of cantilevered pipes conveying fluid. To suppress the unstable phenomena of the pipe system, we employ so called gain scheduling technique. This control design procedure consists of following two steps. First, several linear time invariant (LTI) controllers are obtained for the pipe system with fixed flow velocity. We adopt LQG control law for each LTI controller design. Next, those controllers are scheduled according to the flow velocity, i.e. scheduling parameter. Concretely, LO state-feedback gains and the Kalman filter gains, which are obtained for two flow velocities, are interpolated linearly according to the measured flow velocity. The control object, which consists of the pipe system and the actuator is modeled mathematically by Galerkin method. The experimental setup consists of the pipe system, a laser sensor, an AID converter, a personal computer, a D/A converter, a DC servomotor which is used as an actuator, and a flow meter, The flow meter measures the flow velocity which is used in the controller. Results of the simulation and the experimental studies show that the gain scheduled controller has superior property to stabilize unstable phenomena of the pipe system.