發(fā)布時(shí)間：2018-06-11 19:49

  本文選題：雙軸精密離心機(jī) + 時(shí)變周期干擾�。� 參考：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：本文以雙軸精密離心機(jī)為研究背景,研究了其同步控制策略及實(shí)現(xiàn)問(wèn)題。針對(duì)雙軸精密離心機(jī)主副軸不同的模型,對(duì)雙軸精密離心機(jī)的控制特點(diǎn)進(jìn)行了分析,并基于此分別研究基于位置域重復(fù)控制的時(shí)變周期干擾抑制方法和針對(duì)提高主副軸同步精度的同步控制方法,并通過(guò)仿真與實(shí)驗(yàn)進(jìn)行了驗(yàn)證。本文的主要工作及創(chuàng)新點(diǎn)體現(xiàn)在如下幾個(gè)方面:首先,針對(duì)本文研究對(duì)象雙軸精密離心機(jī),分析了被控對(duì)象的機(jī)理模型并進(jìn)行了實(shí)驗(yàn)建模。分析了雙軸精密離心機(jī)副軸干擾特性和主副軸同步控制特性。其次,簡(jiǎn)單介紹了重復(fù)控制方法,通過(guò)對(duì)比不同重復(fù)控制器特點(diǎn),選擇了采用新型有限維重復(fù)控制器。針對(duì)副軸干擾特性,提出了位置域有限維內(nèi)模重復(fù)控制器及其實(shí)現(xiàn)方法,并通過(guò)仿真驗(yàn)證了其有效性。然后,針對(duì)主副軸同步控制問(wèn)題分析了經(jīng)典的同步控制方法的優(yōu)缺點(diǎn),基于此提出了混合同步控制方法。對(duì)這些同步控制方法進(jìn)行了仿真分析,通過(guò)對(duì)比分析出了混合同步控制方法的優(yōu)勢(shì)及缺點(diǎn)。最后,對(duì)位置域有限維內(nèi)模重復(fù)控制方法進(jìn)行了實(shí)驗(yàn)研究,進(jìn)一步驗(yàn)證了其有效性。對(duì)并聯(lián)同步控制方法和串聯(lián)同步控制方法進(jìn)行了實(shí)驗(yàn)研究,驗(yàn)證了串聯(lián)同步控制方法的實(shí)用性。
[Abstract]:In this paper, the synchronous control strategy and its realization of two-axis precision centrifuge are studied. According to the different models of the main and auxiliary axes of the two-axis precision centrifuge, the control characteristics of the two-axis precision centrifuge are analyzed. Based on this, the time-varying periodic interference suppression method based on position domain repetitive control and the synchronization control method aiming at improving the synchronization accuracy of main and auxiliary axes are studied, and verified by simulation and experiment. The main work and innovation of this paper are as follows: firstly, the mechanism model of the controlled object is analyzed and the experimental model is built for the research object of this paper. The interference characteristics of two-axis precision centrifuges and the synchronous control characteristics of main and secondary axes are analyzed. Secondly, the repetitive control method is briefly introduced. By comparing the characteristics of different repetitive controllers, a new finite dimensional repetitive controller is selected. The finite dimensional internal model repetitive controller in position domain and its implementation method are proposed in view of the interference characteristics of the auxiliary axis, and the effectiveness of the controller is verified by simulation. Then, the advantages and disadvantages of the classical synchronous control methods are analyzed, and a hybrid synchronous control method is proposed. These synchronous control methods are simulated and analyzed, and the advantages and disadvantages of the hybrid synchronous control methods are compared and analyzed. Finally, the finite dimensional internal model repetitive control in position domain is experimentally studied, and its effectiveness is further verified. The parallel synchronous control method and the series synchronous control method are studied experimentally, and the practicability of the series synchronous control method is verified.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TQ051.8;TP273

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本文編號(hào)：2006486