本文選題：氣浮臺 + 運動控制系統(tǒng)設(shè)計��； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：氣浮臺作為一種借助平面型氣浮軸承在一個平面上實現(xiàn)幾乎無摩擦運動的航天器地面模擬裝置,以其成本相對較低、持續(xù)時間較長、引入擾動較小等優(yōu)點在近幾十年發(fā)展迅速,被廣泛應(yīng)用于控制靈活機械手、機械手硬件測試、自由飛行的衛(wèi)星機械手系統(tǒng)、衛(wèi)星編隊飛行與臨近操作、交會對接(捕捉)、低重力機構(gòu)登陸裝置等主題的航天任務(wù)研究中。作為這些研究的基礎(chǔ),首先要實現(xiàn)對氣浮臺的運動控制。本文以一種3自由度氣浮臺為研究對象,詳細介紹氣浮臺運動控制系統(tǒng)的設(shè)計與實現(xiàn)過程,并嘗試采用模型預(yù)測控制器進行控制。首先介紹氣浮臺的基本組成與關(guān)鍵參數(shù)。根據(jù)理論力學(xué)的相關(guān)知識,建立慣性坐標系與體坐標系,對氣浮臺進行動力學(xué)分析,分別推導(dǎo)其在兩種坐標系下的動力學(xué)模型。此外,還介紹一些模型預(yù)測控制的知識。其次搭建氣浮臺運動控制系統(tǒng)并完成星載計算機上的軟件架構(gòu)設(shè)計,并設(shè)計實現(xiàn)一些基本模塊。首先采用一種非線性跟蹤微分器作為觀測器,對其功能分別進行仿真與實驗驗證;其次根據(jù)噴嘴的安裝位置設(shè)計并實現(xiàn)推力變換分配算法;然后設(shè)計信號調(diào)制模塊,對需要PWM調(diào)制部分,給出一種經(jīng)典的PWM占空比的計算方法,對需要PWPF調(diào)制的部分,選取合理的參數(shù)并進行仿真驗證。然后進行控制器的設(shè)計工作。首先分析電磁閥開關(guān)特性的影響并設(shè)計PID控制器,實現(xiàn)氣浮臺的基本運動控制并與將要設(shè)計的模型預(yù)測控制器作對比。在此基礎(chǔ)上嘗試設(shè)計模型預(yù)測控制器。對兩種控制器分別采用階躍信號、斜坡信號、正弦信號進行仿真與試驗驗證,結(jié)果表明PID控制器可以滿足試驗需求,模型預(yù)測控制器盡管性能受到星載計算機硬件限制,仍可以用于運動控制。最后從氣浮臺的主要應(yīng)用領(lǐng)域抽象出自由飛行與定點懸浮、矩形軌跡跟蹤、圓軌跡跟蹤3中典型運動形式,并用對兩種控制器對以上運動控制的有效性進行了數(shù)值仿真與試驗驗證,結(jié)果表明兩種控制器都實現(xiàn)了對上述典型運動的控制。由于模型預(yù)測控制器性能受限,PID的控制效果顯得相對較好,但是前者也顯示出控制過程更平穩(wěn)直接、抗干擾能力更好、控制量始終在執(zhí)行器的輸出范圍內(nèi)(主動顯式的處理約束)、使得執(zhí)行器不至于長時間陷入飽和狀態(tài)、控制量輸出較小節(jié)省燃料等優(yōu)點。
[Abstract]:Air floatation platform, as a kind of spacecraft ground simulation device which realizes almost frictionless motion on a plane by means of plane air bearing, has developed rapidly in recent decades because of its advantages of relatively low cost, longer duration, less disturbance and so on. It is widely used to control flexible manipulator, hardware testing of manipulator, free-flying satellite manipulator system, satellite formation flight and proximity operation, rendezvous and docking (capture and docking), low-gravity mechanism landing device and other topics of space mission research. As the basis of these studies, the first step is to realize the motion control of the air-floating platform. In this paper, the design and implementation of the motion control system of a three degree of freedom air floatation platform are introduced in detail, and the model predictive controller is used to control the system. First, the basic composition and key parameters of the air flotation platform are introduced. According to the relevant knowledge of theoretical mechanics, the inertial coordinate system and the body coordinate system are established, and the dynamic models of the air floatation platform are derived respectively. In addition, some knowledge of model predictive control is also introduced. Secondly, the motion control system of the air floatation platform is built and the software architecture on the spaceborne computer is designed, and some basic modules are designed and implemented. Firstly, a nonlinear tracking differentiator is used as observer, and its function is simulated and verified by experiments. Secondly, according to the installation position of the nozzle, the thrust transform assignment algorithm is designed and realized. Then, the signal modulation module is designed. A classical PWM duty cycle calculation method is presented for the PWM modulation part. The reasonable parameters are selected and verified by simulation. Then the controller is designed. Firstly, the influence of solenoid valve switching characteristics is analyzed and pid controller is designed to realize the basic motion control of the air floatation platform and compare it with the model predictive controller to be designed. On this basis, we try to design a model predictive controller. The two controllers are simulated and verified by step signal, ramp signal and sinusoidal signal respectively. The results show that the pid controller can meet the test demand, and the performance of the model predictive controller is limited by the hardware of spaceborne computer. Can still be used for motion control. Finally, from the main application fields of the air floatation platform, the typical motion forms of free flight and fixed-point suspension, rectangular trajectory tracking and circular trajectory tracking are abstracted. The effectiveness of the two controllers for the above motion control is numerically simulated and tested, and the results show that the two controllers can control the typical motion mentioned above. Because the performance of the model predictive controller is limited, the control effect of pid is relatively good, but the former also shows that the control process is more stable and direct, and the anti-jamming ability is better. The control quantity is always within the output range of the actuator (active and explicit processing constraints, so that the actuator does not fall into saturation state for a long time, the output of the control quantity is small to save fuel and so on.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：V416.8;TP273

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