懸吊式低重力模擬系統(tǒng)控制研究
發(fā)布時間：2019-06-15 15:58
【摘要】：隨著航天地面仿真、驗證實驗設備的研究越來越多,為了真實模擬空間或星球表面重力環(huán)境,需要低重力模擬系統(tǒng)。目前大部分重力環(huán)境模擬系統(tǒng)采用懸吊式,通過配重或者彈簧等平衡重力,這種方式一般適用于低速運動物體,對于飛行器星球表面垂直分離情況難以適用。為此本文提出一種主動懸吊式低重力模擬方法,從提高系統(tǒng)響應速度和精度角度出發(fā)提出了一系列措施,包括硬件和軟件,完成了低重力模擬系統(tǒng)的實驗臺的搭建并進行驗證,從經典控制和現(xiàn)代控制兩個方面設計了系統(tǒng)的控制算法。根據要求的性能指標確定了主動懸吊式低重力模擬系統(tǒng)的實現(xiàn)方案,通過增加緩沖彈簧、增大鋼絲繩剛度和懸吊長度等來提高響應速度和精度,同時在控制上,利用力矩電機堵轉運行方式,采取力控制和速度控制兩種方式提高響應速度。設計了系統(tǒng)各個部分的機械結構和測控系統(tǒng)并搭建出了系統(tǒng)的實驗臺,確定了系統(tǒng)的硬件和軟件的控制方案。根據搭建的實驗臺建立了力矩電機的控制模型和系統(tǒng)的標稱模型,分析了機電伺服系統(tǒng)的諧振頻率和緩沖機構的諧振頻率,為控制器的設計提供了參考。為了對系統(tǒng)進行有效控制,從經典控制理論出發(fā)完成了控制算法設計。建立了系統(tǒng)基本控制模型,為輸入信號安排了合理的過渡過程,利用Z-N整定PID控制以及系統(tǒng)校正兩種方法完成了系統(tǒng)靜態(tài)平衡過程的建立,同時利用搭建的系統(tǒng)進行了靜態(tài)和動態(tài)平衡誤差實驗分析,將目標物體的垂直運動等效為系統(tǒng)外界位置擾動,提出了結構不變性前饋補償和建立擾動觀測器兩種擾動抑制策略,并進行了仿真驗證。為了使系統(tǒng)具有自適應能力,提出了自適應模糊PID控制方法,建立了語言值變量、隸屬度函數(shù)和模糊規(guī)則,得到了適用于系統(tǒng)的模糊控制器。為了解決系統(tǒng)存在的不確定性和外界位置擾動問題,提出使用H∞魯棒控制通過解析的方法求取控制器。分析了系統(tǒng)存在的不確定性并進行處理,通過小增益定理轉化為H∞標準設計問題并根據系統(tǒng)指標特點確定了加權函數(shù),得到了系統(tǒng)增廣控制對象并求取了控制器,為了增強控制器的可實現(xiàn)性利用Hankel逼近降階法對原始控制器進行降階,利用Simulink進行控制器性能的仿真驗證并對降階前后的控制器進行了對比。
[Abstract]:With the space ground simulation, there are more and more research on verification experimental equipment. In order to simulate the gravity environment on the surface of space or planet, a low gravity simulation system is needed. At present, most gravity environment simulation systems use suspension type, through counterweight or spring and other balanced gravity, this method is generally suitable for low-speed moving objects, and it is difficult to apply to the vertical separation of aircraft planet surface. In this paper, an active suspended low gravity simulation method is proposed, and a series of measures are put forward from the point of view of improving the response speed and accuracy of the system, including hardware and software, the experimental platform of the low gravity simulation system is built and verified, and the control algorithm of the system is designed from two aspects of classical control and modern control. According to the required performance index, the realization scheme of the active suspension low gravity simulation system is determined. The response speed and accuracy are improved by increasing the buffer spring, the stiffness and suspension length of the wire rope. At the same time, in the control, the torque motor is used to block the operation mode, and the force control and speed control are adopted to improve the response speed. The mechanical structure and measurement and control system of each part of the system are designed, and the experimental platform of the system is built, and the control scheme of hardware and software of the system is determined. According to the experimental platform, the control model of torque motor and the nominal model of the system are established, and the resonance frequency of electromechanical servo system and buffer mechanism are analyzed, which provides a reference for the design of the controller. In order to control the system effectively, the control algorithm is designed based on the classical control theory. The basic control model of the system is established, and a reasonable transition process is arranged for the input signal. The static equilibrium process of the system is established by using two methods: Z tuning PID control and system correction. At the same time, the static and dynamic balance error experiments are carried out by using the built system, and the vertical motion of the target object is equivalent to the external position disturbance of the system. Two disturbance suppression strategies, structure invariant feedforward compensation and disturbance observer, are proposed and verified by simulation. In order to make the system have adaptive ability, an adaptive fuzzy PID control method is proposed. Language value variables, membership functions and fuzzy rules are established, and a fuzzy controller suitable for the system is obtained. In order to solve the uncertainty and external position disturbance problem of the system, an analytical method is proposed to obtain the controller by using H 鈭，
本文編號：2500336
[Abstract]:With the space ground simulation, there are more and more research on verification experimental equipment. In order to simulate the gravity environment on the surface of space or planet, a low gravity simulation system is needed. At present, most gravity environment simulation systems use suspension type, through counterweight or spring and other balanced gravity, this method is generally suitable for low-speed moving objects, and it is difficult to apply to the vertical separation of aircraft planet surface. In this paper, an active suspended low gravity simulation method is proposed, and a series of measures are put forward from the point of view of improving the response speed and accuracy of the system, including hardware and software, the experimental platform of the low gravity simulation system is built and verified, and the control algorithm of the system is designed from two aspects of classical control and modern control. According to the required performance index, the realization scheme of the active suspension low gravity simulation system is determined. The response speed and accuracy are improved by increasing the buffer spring, the stiffness and suspension length of the wire rope. At the same time, in the control, the torque motor is used to block the operation mode, and the force control and speed control are adopted to improve the response speed. The mechanical structure and measurement and control system of each part of the system are designed, and the experimental platform of the system is built, and the control scheme of hardware and software of the system is determined. According to the experimental platform, the control model of torque motor and the nominal model of the system are established, and the resonance frequency of electromechanical servo system and buffer mechanism are analyzed, which provides a reference for the design of the controller. In order to control the system effectively, the control algorithm is designed based on the classical control theory. The basic control model of the system is established, and a reasonable transition process is arranged for the input signal. The static equilibrium process of the system is established by using two methods: Z tuning PID control and system correction. At the same time, the static and dynamic balance error experiments are carried out by using the built system, and the vertical motion of the target object is equivalent to the external position disturbance of the system. Two disturbance suppression strategies, structure invariant feedforward compensation and disturbance observer, are proposed and verified by simulation. In order to make the system have adaptive ability, an adaptive fuzzy PID control method is proposed. Language value variables, membership functions and fuzzy rules are established, and a fuzzy controller suitable for the system is obtained. In order to solve the uncertainty and external position disturbance problem of the system, an analytical method is proposed to obtain the controller by using H 鈭，
本文編號：2500336
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