【摘要】：本課題組所研制的直線電磁模擬加載試驗(yàn)臺對輸出構(gòu)件為直線運(yùn)動的機(jī)械設(shè)備的模擬加載具有很好的應(yīng)用價值,而其加載系統(tǒng)的磁滯非線性特性嚴(yán)重影響了加載精度。因此,針對直線電磁模擬加載系統(tǒng)的性能分析、磁滯建模和磁滯非線性補(bǔ)償控制研究具有重要的意義。本文以直線電磁模擬加載試驗(yàn)臺為研究對象,建立了加載系統(tǒng)的運(yùn)動學(xué)、動力學(xué)模型及磁滯系統(tǒng)模型,設(shè)計(jì)了磁滯非線性補(bǔ)償控制方案,并對以上分析研究結(jié)果進(jìn)行了相應(yīng)的仿真驗(yàn)證。具體工作如下:首先,論文對直線電磁模擬加載試驗(yàn)臺的結(jié)構(gòu)組成及工作原理做了詳細(xì)的說明,并指出了由于磁粉制動器的磁滯特性,導(dǎo)致了加載系統(tǒng)的磁滯非線性問題。其次,論文根據(jù)試驗(yàn)臺的機(jī)構(gòu)運(yùn)動簡圖,分別求得了加載頭、偏心曲柄盤和連桿的運(yùn)動學(xué)參數(shù)的表達(dá)式和曲線圖:另外,在運(yùn)動學(xué)分析的基礎(chǔ)之上,將偏心曲柄盤作為加載系統(tǒng)等效動力學(xué)模型的等效構(gòu)件,求得其等效力矩、等效轉(zhuǎn)動慣量及其導(dǎo)數(shù),從而建立了加載系統(tǒng)的等效動力學(xué)模型;同時,運(yùn)用Adams軟件對其運(yùn)動學(xué)和動力學(xué)進(jìn)行了仿真驗(yàn)證,進(jìn)一步建立了加載系統(tǒng)的剛?cè)狁詈夏Ｐ筒⑦M(jìn)行了仿真分析。再次,論文對磁粉制動器的工作原理進(jìn)行了深入介紹,根據(jù)其工作原理建立了磁粉制動器的機(jī)理模型,分析了其磁滯特性及產(chǎn)生原因;同時,采用Duhem模型建立了磁粉制動器的磁滯模型,并運(yùn)用遞推最小二乘法對模型參數(shù)進(jìn)行了辨識,建立了磁滯模型。最后,論文建立了加載系統(tǒng)的磁滯逆模型,根據(jù)凍結(jié)系數(shù)法研究了加載系統(tǒng)某一時刻的控制方案,分別采用了逆模型前饋補(bǔ)償控制和逆模型前饋補(bǔ)償?shù)腜ID閉環(huán)控制的方法,在Matlab/Simulink環(huán)境下,對兩種控制方法進(jìn)行了仿真研究,控制方法對加載系統(tǒng)的磁滯補(bǔ)償和加載精度的提高有一定效果,其中逆模型前饋補(bǔ)償?shù)腜ID閉環(huán)控制的效果更為明顯。
[Abstract]:The linear electromagnetic simulation loading test-bed developed by our team has a good application value for the simulation loading of mechanical equipment with linear motion of the output component, and the hysteresis nonlinear characteristics of the loading system seriously affect the loading accuracy. Therefore, the study of hysteresis modeling and hysteresis nonlinear compensation control is of great significance for the performance analysis of linear electromagnetic simulation loading system. In this paper, the kinematics, dynamics model and hysteresis system model of the loading system are established, and the nonlinear compensation control scheme of the hysteresis is designed. The results of the above analysis are verified by simulation. The main work is as follows: firstly, the structure and working principle of the linear electromagnetic simulation loading test-bed are explained in detail, and it is pointed out that the hysteresis nonlinear problem of the loading system is caused by the hysteresis characteristics of the magnetic powder brake. Secondly, according to the kinematic diagram of the mechanism of the test bed, the expressions and curves of the kinematics parameters of the loading head, eccentric crank disk and connecting rod are obtained respectively. In addition, the kinematics analysis is carried out on the basis of the kinematics analysis. Taking the eccentric crank disk as the equivalent member of the equivalent dynamic model of the loading system, the equivalent moment of moment, equivalent moment of inertia and its derivative are obtained, and the equivalent dynamic model of the loading system is established. The kinematics and dynamics of the system are verified by using Adams software. The rigid-flexible coupling model of the loading system is established and the simulation analysis is carried out. Thirdly, the paper introduces the working principle of magnetic powder brake, establishes the mechanism model of magnetic powder brake, analyzes its hysteresis characteristics and causes, at the same time, The hysteresis model of magnetic powder brake is established by using Duhem model. The parameters of the model are identified by recursive least square method, and the hysteresis model is established. Finally, the hysteresis inverse model of the loading system is established. According to the freezing coefficient method, the control scheme of the loading system at a certain time is studied. The inverse model feedforward compensation control and the inverse model feedforward compensation pid closed-loop control are used respectively. In the environment of Matlab / Simulink, two control methods are simulated. The results show that the control method can improve the hysteresis compensation and the loading precision of the loading system, and the pid closed-loop control with the inverse model feedforward compensation is more obvious.
【學(xué)位授予單位】：西安理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH137

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