本文選題：彈性負(fù)載　切入點(diǎn)：負(fù)剛度負(fù)載　出處：《武漢科技大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：一般的彈性負(fù)載指正剛度彈性負(fù)載，有一類變剛度彈性負(fù)載既有正剛度也有負(fù)剛度。對于與位置有關(guān)的加載系統(tǒng)，當(dāng)加載對象含有變剛度彈性負(fù)載時(shí)，系統(tǒng)因負(fù)的負(fù)載剛度屬于本質(zhì)不穩(wěn)定系統(tǒng)，這類變剛度彈性負(fù)載對系統(tǒng)的影響隨其剛度值的大小變化以及剛度值的正負(fù)變化而產(chǎn)生變化。這些影響使系統(tǒng)不能夠保持一致的響應(yīng)速度和精度，甚至不能穩(wěn)定工作。 本文以實(shí)驗(yàn)研究中對含有變剛度彈性負(fù)載的位置控制系統(tǒng)加載的彈性負(fù)載電液發(fā)生器為研究對象。對變剛度彈性負(fù)載對加載系統(tǒng)的穩(wěn)定性與響應(yīng)特性的影響以及前饋控制對消除這些影響進(jìn)行研究。具體工作歸納如下： (1)概述力控制系統(tǒng)的基本理論，分析了與位置有關(guān)的加載系統(tǒng)的控制原理。 (2)根據(jù)實(shí)驗(yàn)要求的加載系統(tǒng)物理模型，建立了彈性負(fù)載電液發(fā)生器的數(shù)學(xué)模型，并通過設(shè)計(jì)計(jì)算獲取了系統(tǒng)的主要參數(shù)。 (3)根據(jù)系統(tǒng)數(shù)學(xué)模型建立其仿真模型，，并利用MATLAB的Simulink工具箱進(jìn)行數(shù)字仿真，分析了不同位置不同負(fù)載剛度對系統(tǒng)控制精度、響應(yīng)速度及穩(wěn)定性的影響，通過仿真值驗(yàn)證了數(shù)學(xué)模型的準(zhǔn)確性。 (4)針對負(fù)剛度負(fù)載使加載系統(tǒng)失穩(wěn)的問題，在滿足系統(tǒng)響應(yīng)時(shí)間一致的目標(biāo)下，借助BP神經(jīng)網(wǎng)絡(luò)提出前饋控制與PID控制相結(jié)合的綜合校正策略，并通過仿真分析，得出了校正后的系統(tǒng)穩(wěn)定以及響應(yīng)速度與控制精度均能達(dá)到要求的結(jié)論。 本文針對加載系統(tǒng)負(fù)載剛度可能為正也可能為負(fù)的特點(diǎn)，側(cè)重探討了系統(tǒng)在負(fù)載剛度為負(fù)的時(shí)失穩(wěn)的問題，以提高系統(tǒng)響應(yīng)速度與控制精度并保證系統(tǒng)穩(wěn)定為目標(biāo)，采用前饋控制與PID控制結(jié)合的綜合校正策略，為解決負(fù)負(fù)載使控制系統(tǒng)失穩(wěn)的問題提供了一種新方案。
[Abstract]:A class of variable stiffness elastic loads have both positive and negative stiffness. For a location-dependent loading system, when the loading object contains a variable stiffness elastic load, The system is essentially unstable because of its negative load stiffness. The influence of this kind of variable stiffness elastic load on the system varies with the magnitude of the stiffness value and the positive and negative changes of the stiffness value, which makes the system unable to maintain a consistent response speed and accuracy, or even work stably. In this paper, the electro-hydraulic generator of elastic load loaded by position control system with variable stiffness in the experimental study is studied. The effect of the elastic load with variable stiffness on the stability and response characteristics of the loading system is studied. And feedforward control to eliminate these effects. The specific work is summarized as follows:. 1) the basic theory of force control system is summarized, and the control principle of loading system related to position is analyzed. 2) according to the physical model of the loading system required by the experiment, the mathematical model of the elastic load electrohydraulic generator is established, and the main parameters of the system are obtained by design and calculation. The simulation model is established according to the mathematical model of the system, and the digital simulation is carried out by using the Simulink toolbox of MATLAB. The influence of different position and different load stiffness on the control precision, response speed and stability of the system is analyzed. The accuracy of the mathematical model is verified by the simulation results. 4) aiming at the problem that the load with negative stiffness causes the instability of the loading system, a comprehensive correction strategy combining feedforward control and PID control is put forward with the help of BP neural network under the goal of consistent response time of the system, and the simulation analysis is carried out. It is concluded that the system stability after correction and the response speed and control precision can meet the requirements. In view of the fact that the load stiffness of the loading system may be positive or negative, this paper focuses on the problem of system instability when the load stiffness is negative. The aim of this paper is to improve the system response speed and control accuracy and to ensure the stability of the system. A new scheme is proposed to solve the problem that the negative load makes the control system unstable by adopting a comprehensive correction strategy which combines feedforward control with PID control.
【學(xué)位授予單位】：武漢科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TH137;TP273

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