本文選題：自動對接連接器 + 液壓伺服系統(tǒng)　； 參考：《南京理工大學(xué)》2016年碩士論文

【摘要】：某型運載火箭自動對接臍帶連接器采用液壓伺服系統(tǒng)控制。在對接過程中,存在箭體擺動和液壓缸承受較大的不確定負(fù)載力的問題,為了提高控制的精度以及對接的可靠性,滿足快速發(fā)射的發(fā)展要求,有必要對自動對接連接器液壓伺服控制研究,使連接器能夠很好地完成對接任務(wù)。對研究的液壓伺服系統(tǒng)設(shè)計了液壓回路,確定各液壓元器件的分布。針對負(fù)載問題建立液壓伺服系統(tǒng)狀態(tài)空間形式的數(shù)學(xué)模型。對液壓缸驅(qū)動機(jī)構(gòu)3-PSS機(jī)構(gòu)進(jìn)行運動學(xué)、動力學(xué)計算與仿真分析�？紤]大負(fù)載對機(jī)構(gòu)運動的影響,使用ABAQUS將關(guān)鍵部件連桿柔性化,使用ADAMS剛?cè)狁詈戏治�。簡化液壓�?shù)學(xué)模型,對于液壓系統(tǒng)不確定參數(shù)使用MATLAB系統(tǒng)辨識工具箱進(jìn)行參數(shù)辨識,用于控制算法的參考參數(shù)。設(shè)計擴(kuò)張狀態(tài)觀測器用以觀測系統(tǒng)所受不確定負(fù)載擾動,并使用反步魯棒法進(jìn)行補(bǔ)償。在MATLAB/Simulink中進(jìn)行單缸仿真分析,驗證算法的控制效果,最后使用ADAMS-MATLAB聯(lián)合仿真的方法驗證液壓伺服系統(tǒng)驅(qū)動3-PSS機(jī)構(gòu)的控制效果。由仿真結(jié)果可以看出,使用擴(kuò)張狀態(tài)負(fù)載擾動觀測器的反步魯棒法具有很好的負(fù)載補(bǔ)償效果和跟蹤隨動性能,液壓系統(tǒng)有較高的控制精度。
[Abstract]:The automatic docking cord connector of a certain launch vehicle is controlled by hydraulic servo system. In the process of docking, there are the problems of arrow swinging and hydraulic cylinder bearing large uncertain load force. In order to improve the control accuracy and the reliability of docking, meet the requirements of rapid launch development. It is necessary to study the hydraulic servo control of the automatic docking connector so that the connector can finish the docking task well. The hydraulic circuit is designed to determine the distribution of hydraulic components. A mathematical model of state space for hydraulic servo system is established for load problem. The kinematics, dynamics calculation and simulation analysis of 3-PSS mechanism are carried out. Considering the influence of large load on mechanism motion, the key components are flexible by Abaqus and analyzed by Adams rigid-flexible coupling. The mathematical model of hydraulic system is simplified, and the parameters of uncertain parameters of hydraulic system are identified by MATLAB system identification toolbox, which is used to control the reference parameters of the algorithm. An extended state observer is designed to observe the uncertain load disturbance of the system, and the backstepping robust method is used to compensate the disturbance. The single-cylinder simulation analysis in MATLAB / Simulink is carried out to verify the control effect of the algorithm. Finally, the control effect of the 3-PSS mechanism driven by hydraulic servo system is verified by the combined simulation method of ADAMS-MATLAB. The simulation results show that the backstepping robust method using the extended state load disturbance observer has good load compensation and tracking performance, and the hydraulic system has high control precision.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：V475.1;V554

【相似文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前3條

1 李宗濤;自動對接連接器探測跟蹤系統(tǒng)研究[D];南京理工大學(xué);2015年

2 宋濤;自動對接連接器液壓伺服控制系統(tǒng)研究[D];南京理工大學(xué);2016年

3 黃超;自動對接連接器的執(zhí)行、懸掛系統(tǒng)設(shè)計與研究[D];南京理工大學(xué);2015年

，

本文編號：2071196