本文選題：系統(tǒng)辨識 + 兩步法　； 參考：《西安電子科技大學(xué)》2014年碩士論文

【摘要】：本文主要內(nèi)容是對機(jī)載雷達(dá)轉(zhuǎn)臺伺服系統(tǒng)和復(fù)合軸伺服系統(tǒng)的粗轉(zhuǎn)臺模型進(jìn)行研究與辨識。系統(tǒng)辨識是控制領(lǐng)域研究的重點(diǎn)之一,因?yàn)榫_的動力學(xué)模型是進(jìn)行機(jī)電系統(tǒng)設(shè)計與控制的基礎(chǔ),在控制領(lǐng)域具有相當(dāng)重要的地位。利用系統(tǒng)辨識的相關(guān)理論知識,通過對被控對象結(jié)構(gòu)和參數(shù)的辨識,建立被控對象精確的數(shù)學(xué)模型,這是研究控制系統(tǒng)的關(guān)鍵步驟,然后基于此模型進(jìn)行控制算法的研究,從而使其滿足控制系統(tǒng)的指標(biāo)要求。本論文主要進(jìn)行了兩個伺服系統(tǒng)的辨識工作,其中包括基于實(shí)驗(yàn)室環(huán)境下的機(jī)載雷達(dá)轉(zhuǎn)臺伺服系統(tǒng)的辨識,還有基于實(shí)際科研項(xiàng)目中的復(fù)合軸伺服系統(tǒng)中粗轉(zhuǎn)臺的辨識工作。其中機(jī)載雷達(dá)轉(zhuǎn)臺伺服系統(tǒng)部分的工作主要包括四個方面：辨識實(shí)驗(yàn)方案設(shè)計；辨識模型結(jié)構(gòu)的確定；辨識模型參數(shù)的確定；辨識模型的驗(yàn)證。其中辨識實(shí)驗(yàn)方案設(shè)計的工作主要包括了根據(jù)轉(zhuǎn)臺伺服系統(tǒng)的原理,參與設(shè)計了系統(tǒng)的軟硬件實(shí)現(xiàn)方案,采集輸入輸出數(shù)據(jù),為被控對象模型的辨識工作做準(zhǔn)備。輸入信號為STM32產(chǎn)生的M序列,輸出信號為采集到的編碼器的速度信號。模型結(jié)構(gòu)的辨識主要采用AIC準(zhǔn)則推導(dǎo)出系統(tǒng)階數(shù)。模型參數(shù)的辨識主要采取兩步法來進(jìn)行辨識,首先利用相關(guān)法得到系統(tǒng)的非參數(shù)模型——脈沖響應(yīng),而后又利用最小二乘法推算出系統(tǒng)的參數(shù)模型——傳遞函數(shù)。模型結(jié)構(gòu)和模型參數(shù)確定之后,我們對系統(tǒng)模型的有效性進(jìn)行驗(yàn)證,主要方法為輸入信號給定,將模型輸出曲線與實(shí)際采集輸出曲線進(jìn)行比較,誤差小于一定的指標(biāo)要求,實(shí)驗(yàn)證得辨識模型真實(shí)可靠。由于機(jī)載雷達(dá)轉(zhuǎn)臺伺服系統(tǒng)需要在特殊環(huán)境穩(wěn)定運(yùn)行,如高低溫環(huán)境、振蕩環(huán)境等,需要在被控對象參數(shù)發(fā)生一定變化時系統(tǒng)仍然能夠可靠運(yùn)行。故后期基于辨識模型又進(jìn)行了PID參數(shù)自整定的研究,主要為基于三環(huán)路的模糊智能控制方法的研究,使系統(tǒng)具有一定的魯棒性。最后基于上述工作,對系統(tǒng)進(jìn)行了閉環(huán)調(diào)試,結(jié)果表明伺服系統(tǒng)各項(xiàng)功能正常,與上位機(jī)可以可靠地通信。復(fù)合軸轉(zhuǎn)臺伺服系統(tǒng)的的辨識工作是根據(jù)工程上給定的一組輸入輸出數(shù)據(jù),對復(fù)合軸伺服系統(tǒng)的粗轉(zhuǎn)臺模型進(jìn)行辨識。這組數(shù)據(jù)為一組橢圓航跡測試數(shù)據(jù),經(jīng)分析其主要成分為正弦信號,由于正弦信號無法在全頻段充分激勵系統(tǒng),故我們對輸入輸出信號進(jìn)行一階差分和二階差分運(yùn)算,使其能夠激勵系統(tǒng)的各個模態(tài)。由于工程上存在噪聲,我們應(yīng)用最小二乘擬合法對輸入輸出信號進(jìn)行濾波處理。根據(jù)處理后的這些輸入輸出數(shù)據(jù),基于相關(guān)最小二乘兩步法辨識出系統(tǒng)的各類模型。從這些模型中篩選出精度比較高的模型,并對模型的有效性進(jìn)行了驗(yàn)證。復(fù)合軸伺服系統(tǒng)的精轉(zhuǎn)臺就是建立在這個粗轉(zhuǎn)臺之上的,因此對粗轉(zhuǎn)臺模型的辨識為后續(xù)精轉(zhuǎn)臺的設(shè)計提供了重要的依據(jù)。本文主要內(nèi)容為對兩個典型的伺服系統(tǒng)進(jìn)行系統(tǒng)辨識工作,然后對辨識的模型均進(jìn)行了有效性驗(yàn)證,結(jié)果表明模型誤差均在要求的范圍內(nèi),辨識模型真實(shí)可靠。
[Abstract]:The main content of this paper is to study and identify the rough turntable model of the airborne radar turntable servo system and the compound axis servo system. The system identification is one of the key points in the field of control research. Because the precise dynamic model is the basis for the design and control of the electromechanical system, it has a very important position in the control system. The identification of relevant theoretical knowledge, through the identification of the structure and parameters of the controlled object, establish the precise mathematical model of the controlled object. This is the key step in the study of the control system. Then based on this model, the control algorithm is studied to meet the requirements of the control system. This paper mainly carries out the identification of two servo systems. It includes identification of the airborne radar turntable servo system based on the laboratory environment, and the identification of the rough turntable in the composite axis servo system based on the actual scientific research project. The work of the airborne radar turntable servo system mainly includes four aspects: the identification experiment scheme design; the identification model structure The determination of the parameters of the identification model, the identification of the identification model, and the verification of the identification model. The work of the identification experiment scheme mainly includes the design of the software and hardware implementation scheme of the system according to the principle of the turntable servo system, the input and output data are collected, the identification work of the controlled object model is prepared. The input signal is the M produced by the STM32. The output signal is the speed signal of the encoder. The identification of the model structure mainly uses the AIC criterion to derive the order of the system. The identification of the model parameters is mainly adopted by the two step method. First, the non parametric model of the system is obtained by the correlation method, and then the system is calculated by the least square method. The parameter model - transfer function. After the model structure and model parameters are determined, we verify the validity of the system model. The main method is the input signal is given, the output curve of the model is compared with the actual acquisition and output curve, the error is less than the requirement of certain index. The model is proved to be true and reliable. Due to the airborne mine, the model is proved to be true and reliable. The servo system of the turntable needs to operate steadily in a special environment, such as high and low temperature environment, oscillating environment, and so on. The system is still able to operate reliably when the parameters of the controlled object have certain changes. Therefore, a study on the self-tuning of PID parameters based on the identification model is carried out in the later period, mainly for the study of the fuzzy intelligent control method based on the three loop. Finally, the system has a certain robustness. Finally, based on the above work, the closed-loop system is debugged. The results show that the functions of the servo system are normal and can communicate reliably with the upper computer. The identification work of the servo system of the composite axis turntable is based on a set of input and output data given in the project and the rough rotation of the servo system of the composite axis. This group of data is a group of elliptical track test data. After analyzing its main component is sine signal, because the sine signal can not fully stimulate the system in the whole frequency band, we carry out the first order difference and the two order difference operation to the input and output signal, so that it can stimulate the various modes of the system. Sound, we apply the least squares fitting method to filter the input and output signals. According to the processed data, we identify the various models of the system based on the correlation least square two step method. The model is selected from these models, and the validity of the model is verified. The fine turntable is built on this coarse turntable, so the identification of the rough turntable model provides an important basis for the subsequent design of the fine turntable. The main content of this paper is to identify the two typical servo systems, and then verify the validity of the identified models. The results show that the model errors are all in need. The identification model is true and reliable in the range of the calculation.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TN959.73

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相關(guān)期刊論文 前1條

1 邵群濤,趙偉軍,李寧,劉啟新,潘清明;伺服系統(tǒng)動態(tài)性能分析及在線調(diào)試技術(shù)研究[J];電子工程師;2000年12期

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