【摘要】：本文所研究的高頻電液角振動(dòng)測(cè)試臺(tái)用于陀螺儀在高頻振動(dòng)情況下,信號(hào)跟蹤情況的檢測(cè)。要求電液振動(dòng)測(cè)試臺(tái)在位置控制狀態(tài)下實(shí)現(xiàn)高頻正弦信號(hào)的高精度復(fù)現(xiàn)。其伺服控制控制系統(tǒng)的研究與電液振動(dòng)臺(tái)具有相通性,因此本文在基于電液振動(dòng)臺(tái)研究的基礎(chǔ)上進(jìn)行課題研究。液壓控制系統(tǒng)易受各種非線性因素的影響,波形失真度較大,在高頻率范圍內(nèi)工作相對(duì)困難。因此設(shè)計(jì)合理的控制系統(tǒng)克服非線性因素的不利影響,實(shí)現(xiàn)電液角振動(dòng)測(cè)試臺(tái)高頻區(qū)工作是其研究的重要方向之一。本文首先根據(jù)液壓動(dòng)力機(jī)構(gòu)及機(jī)械系統(tǒng)設(shè)計(jì)方案,搭建閥控?cái)[動(dòng)馬達(dá)系統(tǒng)的數(shù)學(xué)模型,并對(duì)相關(guān)非線性問題做出分析。然后確定各個(gè)環(huán)節(jié)參數(shù),根據(jù)極點(diǎn)配置原理設(shè)計(jì)了位置、速度、動(dòng)壓三狀態(tài)反饋補(bǔ)償控制器,并著重分析了動(dòng)壓反饋環(huán)節(jié),利用根軌跡法確定了相關(guān)調(diào)試系數(shù)。通過伺服控制器改善了系統(tǒng)的零極點(diǎn)位置分布,提高了系統(tǒng)的穩(wěn)定性和動(dòng)態(tài)性能,利用Matlab/Simulink軟件建模和仿真分析,得到了較好的仿真結(jié)果。在滿足幅值控制精度的前提下,為進(jìn)一步提高系統(tǒng)振動(dòng)頻率,在伺服控制器基礎(chǔ)上加入PID型迭代學(xué)習(xí)控制策略。通過迭代方法以輸出信號(hào)與給定目標(biāo)的偏差修正不理想的控制信號(hào),使得系統(tǒng)的跟蹤性能得以提高。高質(zhì)量的控制系統(tǒng)硬件設(shè)計(jì)是實(shí)現(xiàn)轉(zhuǎn)臺(tái)基本功能和高精度運(yùn)動(dòng)的基礎(chǔ)。本文根據(jù)技術(shù)要求分析設(shè)計(jì)控制系統(tǒng)硬件部分及選型,設(shè)計(jì)主控制柜的電路連接原理圖。在此基礎(chǔ)上為避免馬達(dá)葉片在高頻率振動(dòng)情況下失控撞到馬達(dá)腔內(nèi)壁造成損壞,設(shè)計(jì)馬達(dá)防碰撞控制器,主要應(yīng)用了互補(bǔ)濾波器原理。搭建試驗(yàn)樣機(jī),設(shè)計(jì)控制系統(tǒng)軟件部分,主要包括上層控制界面的設(shè)計(jì)和下層RTX控制器的編寫,并加入限位保護(hù)程序。實(shí)驗(yàn)驗(yàn)證三狀態(tài)伺服控制器和PID迭代學(xué)習(xí)控制策略的有效性。
[Abstract]:The high frequency electro-hydraulic angular vibration test bench is used to detect the signal tracking of gyroscopes under high frequency vibration. The high precision reproduction of high frequency sinusoidal signal is required in the position control state of the electro-hydraulic vibration test table. The research of servo control system is similar to that of electro-hydraulic shaking table, so the research of this paper is based on the research of electro-hydraulic vibration table. The hydraulic control system is easy to be affected by various nonlinear factors, the waveform distortion is large, and it is relatively difficult to work in the high frequency range. Therefore, it is one of the important research directions to design a reasonable control system to overcome the adverse influence of nonlinear factors and to realize the work of the high frequency region of the electro-hydraulic angle vibration test table. Firstly, according to the design scheme of hydraulic power mechanism and mechanical system, the mathematical model of valve-controlled swing motor system is built, and the related nonlinear problems are analyzed. Then the parameters of each link are determined and a three-state feedback compensation controller of position velocity and dynamic pressure is designed according to the principle of pole assignment. The feedback link of dynamic pressure is analyzed emphatically and the relevant debugging coefficient is determined by using the root locus method. The servo controller is used to improve the position distribution of the zero and pole points of the system, and the stability and dynamic performance of the system are improved. The simulation results are obtained by using Matlab/Simulink software to model and simulate the system. On the premise of satisfying the precision of amplitude control, in order to further improve the vibration frequency of the system, the PID iterative learning control strategy is added to the servo controller. The tracking performance of the system can be improved by iterative method to correct the unsatisfactory control signal with the deviation between the output signal and the given target. The hardware design of high-quality control system is the basis of realizing the basic function and high-precision motion of turntable. According to the technical requirements, this paper analyzes and designs the hardware and selection of the control system, and designs the schematic diagram of the circuit connection of the main control cabinet. On this basis, in order to prevent the motor blade from getting out of control and colliding with the inner wall of the motor cavity under the condition of high frequency vibration, a motor anti-collision controller is designed, the principle of complementary filter is mainly applied. The test prototype is built and the software part of the control system is designed, which mainly includes the design of the upper control interface and the programming of the lower RTX controller, and the addition of the limit protection program. Experiments show the effectiveness of the three-state servo controller and the PID iterative learning control strategy.
【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】：2017
【分類號(hào)】：TP273

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本文編號(hào)：2196287