本文關鍵詞：復合臺精密離心機控制方法研究與實現(xiàn)　出處：《哈爾濱工業(yè)大學》2015年碩士論文　論文類型：學位論文

  更多相關文章： 復合臺精密離心機 周期波動力矩 動不平衡 重復控制 DSP 控制系統(tǒng)

【摘要】：航空航天器常常需要在同時存在振動和線加速度的復合動態(tài)環(huán)境中工作,導航系統(tǒng)需要進行在這種復雜動態(tài)環(huán)境下的模擬實驗,采用精密離心機和電磁振動臺實現(xiàn)模擬實驗環(huán)境,可以發(fā)現(xiàn)在單獨環(huán)境實驗中不便測量的某些特性,有利于提高飛行器導航系統(tǒng)等設備的性能指標和使用可靠性�？梢蕴岣邔碗s動態(tài)環(huán)境的認識,標定慣性元件的技術指標,建立精確的誤差系數(shù)。很大程度的增加飛行器導航系統(tǒng)可靠性,提升在地面模擬空天飛行過程的研究手段和對“天地一致性”的認知水平。本文以建立理想的地面模擬過載與振動復合實驗環(huán)境為背景,對復合平臺的離心機控制方法與實現(xiàn)問題展開了研究。課題從精密離心機系統(tǒng)運行時存在的波動力矩入手分析,通過研究精密離心機整體結(jié)構,解釋了系統(tǒng)存在的不平衡形式,并總結(jié)歸納出系統(tǒng)高速轉(zhuǎn)動中存在動不平衡引起的振動,為系統(tǒng)波動力矩的原因之一。設計了動平衡實現(xiàn)的方案,理論分析與計算了方案實施的可行性。設計了不平衡量的測試系統(tǒng),包括測量面的選擇,測試系統(tǒng)硬件設計與軟件編程。闡述了旋轉(zhuǎn)軸不圓度對不平衡測試的影響,并測試了轉(zhuǎn)軸測試面處不圓度,給出了精確的數(shù)據(jù)。第二,分析了無刷直流電機的力矩波動問題,確定了電磁波動力矩與電機極對數(shù)和系統(tǒng)轉(zhuǎn)速之間的關系�？偨Y(jié)為系統(tǒng)的波動力矩為與系統(tǒng)轉(zhuǎn)速相關的周期性信號。針對周期的干擾力矩,引出了重復控制理論應用的必要性,介紹了重復控制系統(tǒng)的結(jié)構,分析了其性能指標,給出重復控制器設計方法。對復合臺精密離心機建模仿真,設計經(jīng)典控制器的基礎上,加入設計的重復控制器,分別在連續(xù)域與離散域仿真得到其對周期干擾信號的抑制效果。針對離散內(nèi)模延時不能延時小數(shù)周期的問題,提出一種基于線性插值法的數(shù)字低通濾波器的重復控制器,并仿真驗證了其控制效果。對復合臺離心機系統(tǒng)的控制與實現(xiàn)中關鍵問題進行了設計與研究工作,包括DSP與FPGA組成的嵌入式數(shù)字控制器設計與硬件調(diào)試、軟件編寫工作,D/A轉(zhuǎn)換電路板調(diào)試工作,光柵測角系統(tǒng)的電路設計與調(diào)試。對DSP控制器編程,上位機人機交互界面編程,實現(xiàn)了精密離心機的閉環(huán)控制,并經(jīng)過調(diào)試達到了一定的性能指標要求。為實現(xiàn)后續(xù)振動臺與離心機復合結(jié)構整體運行奠定了工程基礎。
[Abstract]:Aerospace vehicles often need to work in a complex dynamic environment where both vibration and linear acceleration exist, and navigation systems need to carry out simulation experiments in this complex dynamic environment. Using precision centrifuge and electromagnetic vibration table to realize the simulation experimental environment, we can find some characteristics which are not easy to measure in the separate environmental experiment. It is helpful to improve the performance and reliability of the aircraft navigation system, to improve the understanding of the complex dynamic environment, and to calibrate the technical index of inertial components. Establish accurate error coefficient. Greatly increase the reliability of aircraft navigation system. In order to improve the research methods and cognitive level of "heaven and earth consistency" on the ground simulation, the background of this paper is to establish an ideal experimental environment of ground simulation overload and vibration. The control method and realization of the complex platform centrifuge are studied. The subject starts with the analysis of the fluctuating moment of the precision centrifuge system, through the research of the whole structure of the precision centrifuge. This paper explains the unbalanced form of the system, and sums up the vibration caused by the dynamic unbalance in the high speed rotation of the system, which is one of the reasons of the system fluctuation moment. The scheme of realizing the dynamic balance is designed. Theoretical analysis and calculation of the feasibility of the implementation of the scheme, the design of an unbalanced measurement system, including the selection of measurement surface. The hardware design and software programming of the test system are introduced. The influence of the rotation axis unroundness on the unbalanced test is expounded, and the unroundness at the test plane of the rotary shaft is tested, and the accurate data are given. The torque fluctuation of brushless DC motor is analyzed. The relationship between the electromagnetic wave dynamic moment and the pole logarithm of the motor and the rotational speed of the system is determined. It is concluded that the wave moment of the system is a periodic signal related to the rotational speed of the system. The necessity of application of repetitive control theory is introduced, the structure of repetitive control system is introduced, its performance index is analyzed, and the design method of repetitive controller is given. Based on the design of classical controller, the repetitive controller is added. The simulation results in continuous domain and discrete domain are used to suppress periodic interference signals, and to solve the problem that discrete internal model delay can not delay fractional period. A repetitive controller of digital low-pass filter based on linear interpolation method is proposed, and its control effect is verified by simulation. The key problems in the control and implementation of composite centrifuge system are designed and studied. Including the design and hardware debugging of embedded digital controller composed of DSP and FPGA, and the debugging of DPA conversion circuit board. The circuit design and debugging of the grating angle measuring system. The DSP controller is programmed and the man-machine interface of the upper computer is programmed to realize the closed-loop control of the precision centrifuge. After debugging, the requirements of certain performance indexes are achieved, which lays the engineering foundation for the integrated operation of the compound structure of the subsequent shaking table and centrifuge.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V216.8

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本文編號：1358845