并串联光电稳定平台伺服控制系统研究
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摘要
自从稳定平台问世以来，一直采用框架式的串联机构形式的稳定平台，由于其结构简单，工作空间大，运动灵活，获得了广泛的应用；相比之下，并联机构稳定平台具有结构刚度好、承受负载强、空间定位精度高、整个机构紧凑等特点。然而，无论是串联稳定平台还是并联稳定平台，都有其难以克服的缺点，如工作空间、承载力等矛盾难以消除。本论文综合它们的优点，深入研究了并串联混合机构。针对本实验室研制的并串联光电稳定平台原理样机，就运动学、动力学、光纤陀螺随机漂移、控制算法以及伺服系统实现等相关关键问题开展了深入研究。论文完成的主要工作和创新如下：
1、采用矢量法和旋转矩阵法对并串联光电稳定平台进行了的运动学分析。采用三维建模软件UG和多体动力学仿真软件ADAMS相结合建立稳定平台三维模型。根据推导的运动学模型和三维模型，详细分析了工作台输出的滚转、俯仰和偏转角之间耦合关系，并对并串联光电稳定平台运动学模型、三维模型进行仿真实验，并与实际数据进行了对比分析，进一步证明了所建立的运动学模型和三维模型准确有效。
2、基于Lagrange法和虚功原理建立了并串联光电稳定平台动力学模型。分析了稳定平台各个部分的动能，根据Lagrange法建立了稳定平台适合于控制使用的动力学模型。根据虚功原理对稳定平台进行了广义力分析。根据并串联光电稳定平台三维模型，采用ADAMS软件对各轴的力矩和加速度进行了动力学分析。
3、基于时间序列建立光纤陀螺随机漂移模型，采用卡尔曼滤波抑制随机漂移。分析了光纤陀螺随机漂移的特性，利用实测数据建立了光纤陀螺随机漂移的静态和动态ARMA模型。依据ARMA模型，采用卡尔曼滤波有效的抑制光纤陀螺随机漂移。
4、完善动力学模型，设计了一个非线性自适应控制器。详细分析了动力学模型的各项系数。考虑实际系统工作中存在的摩擦、负载扰动和动力学参数误差。分离出动力学模型中的未建模动力学参数、摩擦力参数和负载扰动，建立了关于待辨识参数的线性动力学模。运用Lyapunov方法设计了一个非线性自适应控制器。分别将所提出的控制器与计算力矩控制器分别在跟踪高速和低速情况进行了仿真实验，将实验结果进行了对比分析，实验表明所提出非线性自适应控制器在低速、高速状态下控制效果明显好于传统计算力矩控制。
5、构建了并串联光电稳定平台伺服系统的软硬件，搭建了实验平台。搭建实验平台为并串联光电稳定平台系统相关技术的研究和验证提供一个有效的、与实际相似的实验环境的平台。将所提出的非线性自适应控制器用于并串联光电稳定平台控制，实验结果证明了本文有关理论分析的正确性和所设计的控制系统的有效性。
Since the inception of stable platform, the frame-type of serial mechanism in stableplatform was widely applied because of its good characteristics of simple structure, largework space and flexible movement. In contrast, parallel stable platform has overwhelmingadvantages as good stiffness of structure, large carrying capacity, high precision in positionand compact conformation etc. However, both of serial and parallel stable platform haveunsolvable shortcomings such as the conflict between work space and carrying capacity andso on. In this paper, the study did comprehensive investigation of serial and parallel hybridplatform and combined both advantages of them. Based on the prototype of the parallel-serialopto-electronic stable platform developed in our lab, the study in this paper was conducted inresearch fields of kinematics, dynamics, random drift of fiber-optic gyroscope (FOG), controlalgorithm, realization of servo system and so on. Main contributions and innovations of thispaper were described as following:
1、Kinematics analysis of the serial-parallel electro-optical stable platform applying vectormethod and rotation matrix method. Using3D modeling software UG and multibody dynamicssimulation software ADAMS, we constructed3D simulation model of the stable platform. Basedon derived kinemics model and3D model, the study detailedly investigated coupled relationshipbetween output rolling, pitching and yawing angle, which were exported by the platform.Additionally we processed simulation for kinemics model and3D model of the parallel-serialopto-electronic stable platform. Through compared with data from experimental results, kinemicsmodel and3D model were further proved as efficient and accurate models.
2、Constructing dynamics model of the parallel-serial opto-electronic stable platformbased on Lagrange algorithm and principle of virtual work. Lagrange algorithm is mostsuitable for controller design and practice, since it can solve complicated dynamics equationsby simplest way and represent structural dynamics equation as closed form. In this paper, weanalyzed the kinetic energy of different parts of the stable platform and construct dynamicsmodel for the stable platform. Based on principle of virtual work, we analyzed generalized force, which supplied theory basis for further research and practice of control method.
3、Constructing random drift model of FOG based on temporal series and applyingKallman filtering to restraint random drift. After analysis of characteristics of random drift ofFOG, we used experimental data to construct ARMA model for random drift. Random driftwas efficiently restrained by applying Kallman filtering in random drift model. Throughtesting data were analyzed, it was confirmed that random drift was dealt with by filteringaccording to ARMA model and good results of filtering were achieved during experiments.
4、Designing a nonlinear adaptive controller to improve dynamics model. In this paper,different parameters in dynamics model were analyzed in detail. Considering friction, loaddisturbance and kinetic parameters error existing in real system, we separated unmodeleddynamics parameters, friction parameters and effects of load disturbance from dynamicsmodel and obtained linear expressions for parameters to be identified in dynamics model.Lyapunov method was applied for the design of nonlinear adaptive controller. We separatelysimulated our proposed controller and computed torque controller under the conditions oftracking high speed and low speed. Through comparing the experimental results, we can givethe conclusion that our proposed nonlinear adaptive controller has much better control effectsthan traditional computed torque controller under both of conditions.
5、Building software and hardware of servo system and constructing experimentalplatform. The contribution of this part of work is to supply an efficient simulated platformwhich has similar conditions with the actual environment to investigate and test relatedtechnologies in the parallel-serial opto-electronic stable platform. We applied the newproposed nonlinear adaptive controller to the serial and parallel opto-electronic stableplatform. Experimental results proved the correctness of proposed theoretical analysis in thispaper and the efficiency of designed control system.
1、采用矢量法和旋转矩阵法对并串联光电稳定平台进行了的运动学分析。采用三维建模软件UG和多体动力学仿真软件ADAMS相结合建立稳定平台三维模型。根据推导的运动学模型和三维模型，详细分析了工作台输出的滚转、俯仰和偏转角之间耦合关系，并对并串联光电稳定平台运动学模型、三维模型进行仿真实验，并与实际数据进行了对比分析，进一步证明了所建立的运动学模型和三维模型准确有效。
2、基于Lagrange法和虚功原理建立了并串联光电稳定平台动力学模型。分析了稳定平台各个部分的动能，根据Lagrange法建立了稳定平台适合于控制使用的动力学模型。根据虚功原理对稳定平台进行了广义力分析。根据并串联光电稳定平台三维模型，采用ADAMS软件对各轴的力矩和加速度进行了动力学分析。
3、基于时间序列建立光纤陀螺随机漂移模型，采用卡尔曼滤波抑制随机漂移。分析了光纤陀螺随机漂移的特性，利用实测数据建立了光纤陀螺随机漂移的静态和动态ARMA模型。依据ARMA模型，采用卡尔曼滤波有效的抑制光纤陀螺随机漂移。
4、完善动力学模型，设计了一个非线性自适应控制器。详细分析了动力学模型的各项系数。考虑实际系统工作中存在的摩擦、负载扰动和动力学参数误差。分离出动力学模型中的未建模动力学参数、摩擦力参数和负载扰动，建立了关于待辨识参数的线性动力学模。运用Lyapunov方法设计了一个非线性自适应控制器。分别将所提出的控制器与计算力矩控制器分别在跟踪高速和低速情况进行了仿真实验，将实验结果进行了对比分析，实验表明所提出非线性自适应控制器在低速、高速状态下控制效果明显好于传统计算力矩控制。
5、构建了并串联光电稳定平台伺服系统的软硬件，搭建了实验平台。搭建实验平台为并串联光电稳定平台系统相关技术的研究和验证提供一个有效的、与实际相似的实验环境的平台。将所提出的非线性自适应控制器用于并串联光电稳定平台控制，实验结果证明了本文有关理论分析的正确性和所设计的控制系统的有效性。
Since the inception of stable platform, the frame-type of serial mechanism in stableplatform was widely applied because of its good characteristics of simple structure, largework space and flexible movement. In contrast, parallel stable platform has overwhelmingadvantages as good stiffness of structure, large carrying capacity, high precision in positionand compact conformation etc. However, both of serial and parallel stable platform haveunsolvable shortcomings such as the conflict between work space and carrying capacity andso on. In this paper, the study did comprehensive investigation of serial and parallel hybridplatform and combined both advantages of them. Based on the prototype of the parallel-serialopto-electronic stable platform developed in our lab, the study in this paper was conducted inresearch fields of kinematics, dynamics, random drift of fiber-optic gyroscope (FOG), controlalgorithm, realization of servo system and so on. Main contributions and innovations of thispaper were described as following:
1、Kinematics analysis of the serial-parallel electro-optical stable platform applying vectormethod and rotation matrix method. Using3D modeling software UG and multibody dynamicssimulation software ADAMS, we constructed3D simulation model of the stable platform. Basedon derived kinemics model and3D model, the study detailedly investigated coupled relationshipbetween output rolling, pitching and yawing angle, which were exported by the platform.Additionally we processed simulation for kinemics model and3D model of the parallel-serialopto-electronic stable platform. Through compared with data from experimental results, kinemicsmodel and3D model were further proved as efficient and accurate models.
2、Constructing dynamics model of the parallel-serial opto-electronic stable platformbased on Lagrange algorithm and principle of virtual work. Lagrange algorithm is mostsuitable for controller design and practice, since it can solve complicated dynamics equationsby simplest way and represent structural dynamics equation as closed form. In this paper, weanalyzed the kinetic energy of different parts of the stable platform and construct dynamicsmodel for the stable platform. Based on principle of virtual work, we analyzed generalized force, which supplied theory basis for further research and practice of control method.
3、Constructing random drift model of FOG based on temporal series and applyingKallman filtering to restraint random drift. After analysis of characteristics of random drift ofFOG, we used experimental data to construct ARMA model for random drift. Random driftwas efficiently restrained by applying Kallman filtering in random drift model. Throughtesting data were analyzed, it was confirmed that random drift was dealt with by filteringaccording to ARMA model and good results of filtering were achieved during experiments.
4、Designing a nonlinear adaptive controller to improve dynamics model. In this paper,different parameters in dynamics model were analyzed in detail. Considering friction, loaddisturbance and kinetic parameters error existing in real system, we separated unmodeleddynamics parameters, friction parameters and effects of load disturbance from dynamicsmodel and obtained linear expressions for parameters to be identified in dynamics model.Lyapunov method was applied for the design of nonlinear adaptive controller. We separatelysimulated our proposed controller and computed torque controller under the conditions oftracking high speed and low speed. Through comparing the experimental results, we can givethe conclusion that our proposed nonlinear adaptive controller has much better control effectsthan traditional computed torque controller under both of conditions.
5、Building software and hardware of servo system and constructing experimentalplatform. The contribution of this part of work is to supply an efficient simulated platformwhich has similar conditions with the actual environment to investigate and test relatedtechnologies in the parallel-serial opto-electronic stable platform. We applied the newproposed nonlinear adaptive controller to the serial and parallel opto-electronic stableplatform. Experimental results proved the correctness of proposed theoretical analysis in thispaper and the efficiency of designed control system.
引文
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