本文關(guān)鍵詞：連續(xù)回轉(zhuǎn)電液伺服馬達(dá)預(yù)測函數(shù)控制研究　出處：《哈爾濱理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 連續(xù)回轉(zhuǎn)電液伺服馬達(dá) 低速性 內(nèi)泄漏 預(yù)測函數(shù)控制

【摘要】：隨著我國經(jīng)濟(jì)水平的快速發(fā)展和科技實(shí)力的不斷增強(qiáng),仿真轉(zhuǎn)臺在航空航天和國防工業(yè)中得到越來越多的應(yīng)用,在國計(jì)民生中發(fā)揮了重要作用。連續(xù)回轉(zhuǎn)電液伺服馬達(dá)作為仿真轉(zhuǎn)臺的核心組成部分,要求具有良好的“超低速、高頻響、寬調(diào)速、高精度”性能。在此背景下,本文對連續(xù)回轉(zhuǎn)電液伺服馬達(dá)及其控制系統(tǒng)進(jìn)行研究。通過查閱大量的國內(nèi)外相關(guān)文獻(xiàn)資料,簡要回顧國內(nèi)仿真轉(zhuǎn)臺用連續(xù)回轉(zhuǎn)電液伺服馬達(dá)的發(fā)展歷程,介紹電液伺服系統(tǒng)的結(jié)構(gòu)、特點(diǎn)及常用控制方法和應(yīng)用,概述預(yù)測函數(shù)控制(PFC)的發(fā)展現(xiàn)況,在此背景下提出本文的研究內(nèi)容。針對影響連續(xù)回轉(zhuǎn)電液伺服馬達(dá)低速性能的兩大主要因素泄漏和摩擦,首先從馬達(dá)內(nèi)泄漏產(chǎn)生的根本原因出發(fā),考慮運(yùn)動部件的表面粗糙度,根據(jù)平行平板間隙流量方程,建立連續(xù)回轉(zhuǎn)馬達(dá)關(guān)鍵部位的內(nèi)泄漏方程,依次分析表面粗糙度、進(jìn)出口壓力差和轉(zhuǎn)角對內(nèi)泄漏量的影響。推導(dǎo)連續(xù)回轉(zhuǎn)馬達(dá)電液位置伺服系統(tǒng)的開環(huán)傳遞函數(shù),建立摩擦干擾力矩模型。通過Simulink軟件仿真不同泄漏系數(shù)下的低速跟蹤曲線,分析內(nèi)泄漏對低速穩(wěn)定性的影響。闡釋預(yù)測控制理論的內(nèi)涵,詳細(xì)說明預(yù)測函數(shù)控制的運(yùn)算過程。在內(nèi)模控制結(jié)構(gòu)的基礎(chǔ)上,設(shè)計(jì)PFC控制器。對系統(tǒng)給定斜坡信號和正弦信號,采用PID、PFC、PID-PFC復(fù)合算法進(jìn)行仿真,結(jié)果證明PID-PFC復(fù)合控制器可以克服外界擾動和參數(shù)攝動問題,極大提高馬達(dá)的響應(yīng)速度和跟蹤精度,拓寬系統(tǒng)頻帶寬度,滿足雙十指標(biāo)的要求,系統(tǒng)的低速穩(wěn)定性從而得到進(jìn)一步提高。
[Abstract]:With the rapid development of our country's economic level and the increasing strength of science and technology, the simulation turntable has been applied more and more in aerospace and national defense industry. Continuous rotary electro-hydraulic servo motor, as the core part of the simulation turntable, requires good "ultra-low speed, high frequency response, wide speed regulation", which plays an important role in the national economy and the people's livelihood. Under this background, the continuous rotary electro-hydraulic servo motor and its control system are studied in this paper. This paper briefly reviews the development history of continuous rotary electro-hydraulic servo motor used in domestic simulation turntable, and introduces the structure, characteristics, common control methods and application of electro-hydraulic servo system. This paper summarizes the development of predictive function control (PFC), and puts forward the research contents of this paper under this background, aiming at the leakage and friction of two main factors that affect the low speed performance of continuous rotary electro-hydraulic servo motor. Firstly, considering the surface roughness of the moving parts, the internal leakage equation of the key parts of the continuous rotary motor is established according to the flow equation of the parallel plate clearance. The effects of surface roughness, inlet and outlet pressure difference and angle of rotation on internal leakage are analyzed in turn. The open loop transfer function of electro-hydraulic position servo system of continuous rotary motor is derived. The friction disturbance torque model is established. The low speed tracking curves under different leakage coefficients are simulated by Simulink software to analyze the influence of internal leakage on the low speed stability. The connotation of predictive control theory is explained. The operation process of predictive function control is described in detail. On the basis of the internal model control structure, the PFC controller is designed. The slope signal and sinusoidal signal of the system are given by PID-PFC. The simulation results of PID-PFC composite algorithm show that the PID-PFC composite controller can overcome the external disturbance and parameter perturbation problem and greatly improve the response speed and tracking accuracy of the motor. The stability of the system at low speed can be further improved by widening the bandwidth of the system to meet the requirements of double decimals.
【學(xué)位授予單位】：哈爾濱理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH137.5

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