机械谐振系统实验平台动力学特性及实验方法研究

为了改善自动控制原理及相近课程的教学效果，促进一体化课程建设，研制了机械谐振系统实验平台。首先，建立了实验平台的数学模型，详细分析了所提出的机械谐振系统的非线性动力学特性，讨论了实验平台系统的L₂稳定性和李雅普诺夫稳定性；其次，介绍了实验平台的软硬件组成及其实际应用方法；最后，用仿真实验和物理实验对机械谐振系统实验平台进行了验证。结果表明：通过机械谐振系统实验平台，能直观地展示二阶系统的时域响应特性与频率响应特性，以及PID、LQR和基于李雅普诺夫函数的抑振控制器的控制特性。所设计的机械谐振系统实验平台能够更好地辅助完成控制工程相关课程的教学任务，并为控制工程科研工作提供技术支持。

Study on dynamic characteristics and experimental methods of mechanical resonance system experimental platform

In order to improve the teaching effect of automatic control principle and other similar courses, and promote the construction of integrated courses, a mechanical resonance system experimental platform was developed. Firstly, the mathematical model of the experimental system was established, the nonlinear dynamic characteristics of the proposed mechanical resonance system were analyzed in detail, and the L2 stability and Lyapunov stability of the experimental system were discussed. Secondly, the software and hardware components of the experimental platform and its practical application methods were introduced. Finally, the mechanical resonance system experimental platform was verified by simulation and physical experiments. The results show that the time domain characteristics, frequency characteristics of the second-order system and the performances of the stabilizing control based on PID, LQR or the Lyapunov function can be intuitively displayed by using the experimental platform. The mechanical resonance system experimental platform can better assist in completing the teaching task of the courses related to control engineering, and can provide technical support for the scientific research activities of the control engineering.