【摘要】：伴隨著現(xiàn)代科學(xué)技術(shù)的飛速發(fā)展,機(jī)電伺服系統(tǒng)呈現(xiàn)了小型化、輕量化、高精度和高動(dòng)態(tài)特性的發(fā)展趨勢(shì),諧波傳動(dòng)、擺線傳動(dòng)、柔索傳動(dòng)、活齒傳動(dòng)等具有較高傳動(dòng)精度和良好動(dòng)力學(xué)特性的傳動(dòng)方式在其中得到了越來越廣泛的應(yīng)用。對(duì)于上述這些傳動(dòng)方式的動(dòng)力學(xué)特性和伺服控制方法進(jìn)行研究有助于機(jī)電系統(tǒng)伺服性能的提升,具有一定理論和工程意義。諧波齒輪具有輸出力矩大、結(jié)構(gòu)緊湊、嚙合空回小、傳動(dòng)精度高等許多優(yōu)點(diǎn),廣泛應(yīng)用于航空、航天、機(jī)器人、武器系統(tǒng)等領(lǐng)域中的伺服系統(tǒng)中,取得了良好的效果。隨著系統(tǒng)伺服性能需求的提升,對(duì)諧波齒輪傳動(dòng)精度提出了更高的要求,需要對(duì)如何提高其伺服性能這一問題進(jìn)行進(jìn)一步的研究。本文針對(duì)精密諧波齒輪傳動(dòng)系統(tǒng)非線性動(dòng)力學(xué)特性的建模問題和伺服補(bǔ)償問題開展研究,根據(jù)對(duì)精密諧波齒輪傳動(dòng)系統(tǒng)的工作原理、動(dòng)力學(xué)特性建模、模型參數(shù)辨識(shí)方法、非線性特性補(bǔ)償控制、模型仿真方法、系統(tǒng)性能預(yù)測(cè)等方面的研究,建立了含摩擦、剛度和遲滯非線性特性的系統(tǒng)仿真模型,針對(duì)各種非線性特性設(shè)計(jì)了相應(yīng)的補(bǔ)償控制策略,總結(jié)得出了基于模型的諧波齒輪傳動(dòng)系統(tǒng)設(shè)計(jì)方法,對(duì)如何提高諧波齒輪傳動(dòng)系統(tǒng)伺服性能有了進(jìn)一步的認(rèn)識(shí),較好解決了諧波齒輪傳動(dòng)的設(shè)計(jì)和伺服控制問題,可為諧波齒輪傳動(dòng)系統(tǒng)在高速、高精、輕量化和小型化精密伺服系統(tǒng)中的應(yīng)用提供技術(shù)支持。論文的研究?jī)?nèi)容主要包含以下幾個(gè)部分:1.針對(duì)諧波齒輪傳動(dòng)系統(tǒng)伺服特性與其結(jié)構(gòu)參數(shù)之間的關(guān)系問題,通過分析諧波齒輪工作原理、運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)特性,推導(dǎo)出了常用雙波諧波齒輪摩擦、剛度和遲滯三種特性的經(jīng)典模型參數(shù)與其自身主要結(jié)構(gòu)參數(shù)的解析關(guān)系。針對(duì)三種非線性特性的經(jīng)典模型,采用描述函數(shù)方法對(duì)其進(jìn)行線性化,建立了含摩擦、剛度和遲滯的諧波齒輪傳動(dòng)系統(tǒng)線性模型,得到了摩擦、剛度和遲滯對(duì)諧波齒輪傳動(dòng)系統(tǒng)伺服性能的影響規(guī)律。2.為了準(zhǔn)確建立諧波齒輪傳動(dòng)系統(tǒng)的動(dòng)力學(xué)模型,針對(duì)諧波齒輪傳動(dòng)系統(tǒng)摩擦、剛度和遲滯三種非線性特性進(jìn)行了建模。針對(duì)系統(tǒng)摩擦特性建模問題,采用Stribeck和Lu Gre兩種方法進(jìn)行建模,并對(duì)模型中參數(shù)進(jìn)行辨識(shí),提出了一種可在線應(yīng)用的Stribeck摩擦模型參數(shù)快速辨識(shí)方法。針對(duì)系統(tǒng)剛度特性建模問題,采用泰勒級(jí)數(shù)和有限元兩種方法進(jìn)行建模,并辨識(shí)了泰勒級(jí)數(shù)剛度模型的參數(shù),得到了影響諧波齒輪低階諧振頻率的主要結(jié)構(gòu)參數(shù)和其影響規(guī)律。針對(duì)系統(tǒng)遲滯特性建模問題,采用Maxwell和Preisach兩種方法進(jìn)行建模,并對(duì)模型中參數(shù)進(jìn)行了辨識(shí),研究了Preisach遲滯模型在線仿真離散遞歸算法,提高了模型仿真計(jì)算效率,總結(jié)得到了Maxwell和Preisach遲滯模型的選用原則。將以上三種非線性特性模型進(jìn)行集成,得到了諧波齒輪傳動(dòng)系統(tǒng)的仿真模型,該模型可用于研究系統(tǒng)結(jié)構(gòu)-控制特性相互作用機(jī)理,進(jìn)行系統(tǒng)動(dòng)力學(xué)特性分析、控制方法研究和伺服性能預(yù)測(cè)。3.針對(duì)諧波齒輪傳動(dòng)系統(tǒng)的伺服控制問題,研究了系統(tǒng)非線性特性的補(bǔ)償控制方法。針對(duì)系統(tǒng)摩擦和遲滯特性,采用基于模型的摩擦前饋補(bǔ)償和遲滯逆模型補(bǔ)償控制方法;針對(duì)系統(tǒng)的參數(shù)存在變化不確定量問題,采用不基于模型的Backstepping自適應(yīng)補(bǔ)償控制方法。利用建立的諧波齒輪傳動(dòng)系統(tǒng)仿真模型對(duì)上述方法進(jìn)行仿真分析,系統(tǒng)伺服控制精度和響應(yīng)速度相比經(jīng)典PID控制方法均有明顯提高,驗(yàn)證了上述補(bǔ)償控制方法的有效性,并分析得到了各補(bǔ)償控制方法的選用原則。4.針對(duì)諧波齒輪傳動(dòng)系統(tǒng)的設(shè)計(jì)問題,應(yīng)用上述建模和補(bǔ)償控制研究成果,提出了基于模型的諧波齒輪傳動(dòng)系統(tǒng)設(shè)計(jì)方法。基于本文建立的系統(tǒng)仿真模型和設(shè)計(jì)的補(bǔ)償控制方法,根據(jù)某型精密指向穩(wěn)定平臺(tái)俯仰伺服驅(qū)動(dòng)機(jī)構(gòu)應(yīng)用實(shí)例,提出了基于模型的系統(tǒng)設(shè)計(jì)流程。依照該設(shè)計(jì)流程,得到了俯仰伺服驅(qū)動(dòng)機(jī)構(gòu)的具體設(shè)計(jì)方案,并對(duì)方案伺服性能進(jìn)行了仿真預(yù)測(cè)。根據(jù)設(shè)計(jì)方案制造了原理樣機(jī),并對(duì)其進(jìn)行了性能測(cè)試,測(cè)試結(jié)果滿足設(shè)計(jì)指標(biāo)要求。該方法提高了系統(tǒng)的設(shè)計(jì)效率、降低了設(shè)計(jì)成本。5.針對(duì)諧波齒輪傳動(dòng)系統(tǒng)的非線性特性、低階諧振頻率、開環(huán)特性和閉環(huán)特性測(cè)量問題,研究了諧波齒輪傳動(dòng)系統(tǒng)性能測(cè)試方法。設(shè)計(jì)了系統(tǒng)非線性特性測(cè)試實(shí)驗(yàn)臺(tái),實(shí)現(xiàn)了對(duì)摩擦、剛度和遲滯等非線性特性的測(cè)量。設(shè)計(jì)了系統(tǒng)系統(tǒng)諧振頻率和幅頻特性測(cè)試實(shí)驗(yàn)臺(tái),實(shí)現(xiàn)了對(duì)系統(tǒng)低階諧振頻率和開環(huán)幅頻特性的測(cè)試。研究了閉環(huán)系統(tǒng)的最低平滑速率、穩(wěn)定精度、定位精度以及峰值輸出力矩的測(cè)試方法,針對(duì)精密指向穩(wěn)定平臺(tái)俯仰伺服驅(qū)動(dòng)機(jī)構(gòu)這一具體應(yīng)用進(jìn)行了測(cè)試。以上測(cè)試獲得了較為準(zhǔn)確實(shí)驗(yàn)數(shù)據(jù),可反映被測(cè)系統(tǒng)的真實(shí)特性。測(cè)試結(jié)果驗(yàn)證了本文所研究的建模和控制方法的正確性和有效性。
[Abstract]:With the rapid development of modern science and technology, the electromechanical servo system presents the development trend of miniaturization, light weight, high precision and high dynamic characteristics, harmonic transmission, cycloid transmission and flexible cable transmission. The transmission mode with higher transmission precision and good dynamic characteristics is more and more widely used. The research on the dynamic characteristics and the servo control method of these transmission modes is helpful to the improvement of the servo performance of the electro-mechanical system, and has a certain theoretical and engineering significance. The harmonic gear has the advantages of large output torque, compact structure, small engagement and small transmission precision, and is widely used in the servo system in the fields of aviation, space, robot, weapon system and the like, and has good effect. With the improvement of the demand of the system's servo performance, the higher requirement of the harmonic gear transmission precision is put forward, and the problem of how to improve the servo performance of the system is further studied. In this paper, the modeling problem and the servo compensation problem of the nonlinear dynamic characteristics of the precision harmonic gear transmission system are studied. Based on the working principle, the dynamic characteristic modeling, the model parameter identification method and the nonlinear characteristic compensation control of the precision harmonic gear transmission system, Based on the research of the model simulation method and the system performance prediction, the system simulation model with the nonlinear characteristics of friction, stiffness and hysteresis is established, and the corresponding compensation control strategy is designed for various nonlinear characteristics, and the design method of the harmonic gear transmission system based on the model is summarized. A further understanding of how to improve the servo performance of the harmonic gear transmission system is provided, and the design and servo control problems of the harmonic gear transmission are better solved, and the technical support can be provided for the application of the harmonic gear transmission system in the high-speed, high-precision, light-weight and miniaturized precision servo system. The research content of the paper mainly includes the following parts:1. In ord to solve that problem of the relationship between the servo characteristic and the structure parameter of the harmonic gear drive system, by analyzing the working principle, the kinematics and the dynamic characteristic of the harmonic gear, the friction of the common double-wave harmonic gear is derived. The classical model parameters of three characteristics of stiffness and hysteresis are related to their own main structural parameters. According to the classical model of three nonlinear characteristics, the linear model of the harmonic gear transmission system with friction, stiffness and hysteresis is established by using the description function method, and the influence rule of the friction, rigidity and hysteresis on the servo performance of the harmonic gear transmission system is obtained. In order to establish the dynamic model of the harmonic gear transmission system, the three nonlinear characteristics of the friction, stiffness and hysteresis of the harmonic gear transmission system are modeled. In view of the problem of system friction characteristic modeling, the method of modeling the parameters in the model is carried out by using the two methods of Stribeck and Lu Gre, and a method for quickly identifying the parameters of the Sribbeck friction model which can be applied online is proposed. Aiming at the problem of system stiffness characteristic modeling, the Taylor series and the finite element method are used for modeling, and the parameters of the Taylor series stiffness model are identified, and the main structural parameters and the influence law of the low-order resonance frequency of the harmonic gear are obtained. In view of the problem of system hysteresis characteristic modeling, two methods of Maxwell and Preisach are used for modeling, and the parameters in the model are identified. The on-line simulation discrete recursive algorithm of the Preisach hysteresis model is studied, and the simulation and calculation efficiency of the model is improved. The selection principles of Maxwell and Preisach hysteresis models are summarized. The three non-linear characteristic models are integrated, and the simulation model of the harmonic gear transmission system is obtained. The model can be used to study the system structure-control characteristic interaction mechanism, and carry out the system dynamics characteristic analysis, the control method research and the servo performance prediction. In order to solve the problem of the servo control of the harmonic gear drive system, the compensation control method for nonlinear characteristics of the system is studied. In view of system friction and hysteresis characteristics, a model-based model-based compensation control method for friction-forward compensation and hysteresis inverse model is used, and a model-based Backstepping adaptive compensation control method is used to solve the problem of uncertain quantity of parameters in the system. By using the established harmonic gear transmission system simulation model, the method carries out simulation analysis on the method, the system servo control precision and the response speed are obviously improved compared with the classical PID control method, the effectiveness of the compensation control method is verified, The selection principle of each compensation control method is also analyzed. In view of the design problem of the harmonic gear transmission system, the design method of the harmonic gear transmission system based on the model is put forward based on the research results of the modeling and compensation control. Based on the system simulation model and the compensation control method of the design, the system design flow based on the model is put forward according to the application example of a precise pointing and stabilizing platform pitch servo drive mechanism. According to the design flow, the specific design scheme of the pitch servo drive mechanism is obtained, and the simulation prediction of the scheme servo performance is carried out. The principle prototype is manufactured according to the design scheme, and the performance test is carried out, and the test results meet the design index requirements. The method improves the design efficiency of the system and reduces the design cost. In view of the nonlinear characteristics of the harmonic gear transmission system, the low-order resonance frequency, the open-loop characteristic and the closed-loop characteristic measurement, the performance test method of the harmonic gear transmission system is studied. The system nonlinear characteristic test experiment table is designed, and the measurement of the nonlinear characteristics such as friction, rigidity and hysteresis is realized. The system system resonance frequency and amplitude-frequency characteristic test experiment table are designed, and the low-order resonance frequency and the open-loop amplitude-frequency characteristic of the system are tested. The minimum smoothing rate, the stability precision, the positioning accuracy and the test method of the peak output torque of the closed-loop system are studied, and the specific application of the precision pointing and stabilizing platform pitch servo drive mechanism is tested. The above tests have obtained more accurate experimental data, which can reflect the real characteristics of the system under test. The results of the test verify the correctness and validity of the modeling and control methods studied in this paper.
【學(xué)位授予單位】：國(guó)防科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TH132.41
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本文編號(hào)：2484889