本文選題：電液伺服試驗機 + 試件剛度�。� 參考：《江蘇科技大學(xué)》2017年碩士論文

【摘要】：電液伺服試驗機可以對試件進行性能測試試驗,在對其進行動靜態(tài)分析、設(shè)計、控制策略及仿真研究時,由于被測試件不同,控制系統(tǒng)的理論模型是變化的。試驗機電液伺服系統(tǒng)的動態(tài)特性能,根據(jù)負載情況、控制量的不同而有差別。在彈性負載的情況下,尤其是力控制系統(tǒng),被測試件剛度變化對電液伺服試驗機的性能影響起主導(dǎo)作用。本文以電液伺服試驗機彈性負載加載力控制系統(tǒng)為研究對象,針對測試過程由于被測試件不同,控制系統(tǒng)的理論模型變化的問題,提出了具有最小節(jié)拍響應(yīng)的模型參考自適應(yīng)控制的解決方案。該控制器通過設(shè)置合適的可調(diào)參數(shù),當(dāng)被測試件發(fā)生變化時,電液伺服試驗機的實際輸出能很好的跟蹤參考模型的輸出,使得系統(tǒng)達到快速的響應(yīng),超調(diào)量為2%,減弱了剛度變化對系統(tǒng)動態(tài)性能的影響。本文的主要內(nèi)容包括:(1)以電液伺服試驗機為研究對象,通過系統(tǒng)總體分析,對由于被測試件剛度變化而系統(tǒng)性能變化大的彈性負載加載力控制系統(tǒng)進行理論建模,在此基礎(chǔ)上定性的分析了被測試件剛度不同對系統(tǒng)性能產(chǎn)生的影響。(2)針對電液伺服試驗機中變剛度問題,提出了模型參考自適應(yīng)控制策略,并對利用輸入-輸出的模型參考自適應(yīng)控制系統(tǒng)進行描述,基于Lyapunov穩(wěn)定性理論分別對被控對象相對階數(shù)為1和2時的自適應(yīng)控制器結(jié)構(gòu)、參數(shù)自適應(yīng)調(diào)節(jié)規(guī)律、自適應(yīng)控制規(guī)律及控制算法進行詳細推導(dǎo)。(3)對本文中所用到的電液伺服試驗機主要組成部分進行參數(shù)確定,得到了控制系統(tǒng)傳遞函數(shù)的具體結(jié)構(gòu)形式,同時選取5組不同被測試件的剛度值帶入,定量分析了剛度不同對系統(tǒng)動態(tài)性能的影響,并通過常規(guī)PID控制器對控制系統(tǒng)進行仿真校正。(4)基于最小節(jié)拍響應(yīng)系統(tǒng)及嚴格正實函數(shù)的原則,選取具有最小超調(diào)量,快速響應(yīng)的三階最小節(jié)拍控制系統(tǒng)作為參考模型,并依據(jù)電液伺服試驗機控制系統(tǒng)傳遞函數(shù)的結(jié)構(gòu)形式,利用MATLAB/Simulik建立相對階數(shù)為1的模型參考自適應(yīng)控制系統(tǒng)的仿真模型,通過階躍信號和正弦信號輸入對模型實行對比仿真試驗。(5)通過控制系統(tǒng)硬件及軟件設(shè)計,搭建10KN電液伺服試驗機模型參考自適應(yīng)平臺,并進行現(xiàn)場調(diào)試試驗,驗證所采用的基于最小節(jié)拍響應(yīng)的模型參考自適應(yīng)控制器解決了電液伺服試驗機中變剛度問題,具有良好的有效性及可行性。
[Abstract]:The electro-hydraulic servo testing machine can test the performance of the specimen. In the dynamic and static analysis, design, control strategy and simulation research, the theoretical model of the control system is changed due to the difference of the tested parts. The dynamic characteristics of the electro-hydraulic servo system of the testing machine are different according to the load. In the case of elastic load, especially in the force control system, the stiffness change of the tested piece plays a leading role in the performance of the electro-hydraulic servo testing machine. In this paper, the elastic load control system of electro-hydraulic servo testing machine is taken as the research object, aiming at the change of the theoretical model of the control system due to the difference of the tested parts during the testing process. A model reference adaptive control scheme with minimum beat response is proposed. The controller can track the output of the reference model well when the tested parts change by setting appropriate adjustable parameters, which makes the system respond quickly. The overshoot is 2, which weakens the influence of the stiffness change on the dynamic performance of the system. The main contents of this paper are as follows: (1) taking the electro-hydraulic servo testing machine as the research object, through the overall analysis of the system, the theoretical model of the elastic load control system which has a great change in the system performance due to the stiffness change of the tested part is carried out. Based on this, the influence of different stiffness on system performance is analyzed qualitatively. Aiming at the problem of variable stiffness in electro-hydraulic servo testing machine, a model reference adaptive control strategy is proposed. The model reference adaptive control system based on input-output is described. Based on Lyapunov stability theory, the structure of adaptive controller with relative order of 1 and 2 and the law of parameter adaptive adjustment are respectively studied. The adaptive control law and control algorithm are deduced in detail. The main components of the electro-hydraulic servo testing machine used in this paper are determined, and the specific structure of the transfer function of the control system is obtained. At the same time, the effects of different stiffness on the dynamic performance of the system are quantitatively analyzed by selecting five groups of stiffness values of different tested parts. Based on the principle of minimum beat response system and strict positive real function, the third order minimum beat control system with minimum overshoot and fast response is selected as the reference model. According to the structure of the transfer function of the control system of the electro-hydraulic servo testing machine, the simulation model of the model reference adaptive control system with relative order 1 is established by using MATLAB/Simulik. Through step signal and sinusoidal signal input, the model is compared and simulated. Through the hardware and software design of the control system, the model reference adaptive platform of 10KN electro-hydraulic servo testing machine is built, and the field debugging test is carried out. It is verified that the model reference adaptive controller based on minimum beat response solves the problem of variable stiffness in electro-hydraulic servo testing machine and has good effectiveness and feasibility.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273;TH137

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