应用无线方式对结构进行主动控制已经有了初步研究,并逐步取代传统的有线控制策略.无线方式不可避免地引入了延时,影响了系统稳定和控制效果,所以无线主动控制必须要解决延时问题.基于悬臂梁结构搭建了无线控制实验系统,采用PID和模型预测控制相结合的串级控制策略,增加了延时补偿算法,分别以无延时、信号采集端有延时、信号采集端及控制信号输出端都有延时3种工况,对悬臂梁无线控制系统进行了仿真与实验.仿真和实验结果表明,所建立的无线控制系统可以对模型结构实现控制,所运用的延时补偿策略能达到与有线控制相媲美的控制效果,对实际工程应用具有很好的借鉴作用.%The application of structure active control based on a wireless method has been studied preliminarily and tends to replace the traditional wired control method.However,the problem of time delay in a wireless control system is inevitable,and because of this problem,system stability and control capability are greatly influenced.Therefore,it is indispensable to solve the problem of time delay in a wireless control system.Based on a cantilever beam,a wireless control experimental system is proposed and implemented,and by using a cascade control strategy with a time delay compensation algorithm which combines PID and model predictive control,simulation and experiment are carried out in three different conditions which are activated without delay, with time delay at the signal acquisition terminal,with time delay at both acquisition terminal and output terminal respectively. Simulation and experiment results demonstrate that this method can effectively compensate for time delay and enable the wireless control system to exhibit excellent control performance that can be favorably compared with that of wired control.It has a good reference for practical engineering applications.
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