旋转试件模拟加载系统特性及控制策略研究
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摘要
基于二次调节原理研制的旋转试件加载试验台,是近年来发展起来的一种新型旋转试件加载试验设备。这种新型试验台以其精确、灵活、可靠的控制优势以及良好的动态性能大大弥补了传统液压加载系统的缺陷。该试验台主要应用于各种旋转试件的模拟加载试验中,如:变速器、电动机,车辆轮桥等。
文章建立了旋转试件加载系统的多自由度传递函数方块图模型和功率键合图模型,模型的正确性经试验得到验证,为加载系统的特性分析奠定了可靠基础。利用传递函数方块图模型,对前置级排量控制系统、转速控制系统、转矩控制系统分别进行频域分析,对比了PID校正前后的仿真曲线,分析了柔性环节对系统稳定性的影响及变化规律。同时对如上各种系统进行了时域仿真分析,揭示了系统固有参数、控制器参数等对模拟加载系统动态性能的影响规律,得到许多有参考价值的结论,为旋转试件模拟加载系统的设计,提供了可靠依据。
为了改善系统的控制性能,提高系统的鲁棒性,本文引入模糊控制、动态鲁棒补偿控制方法,设计了模糊控制器和动态鲁棒补偿控制器,并通过仿真验证了这两种方法的有效性。如上控制策略的研究成果,为提高模拟加载系统的工作性能以及系统控制软件的设计与开发等奠定了基础。
Rotation specimen load test developed based on the principle of secondary regulation is a new type of rotating the specimen loading test equipment in recent years. The new test bench with its accurate, flexible and reliable control superiority and the good dynamic performance greatly offset the traditional hydraulic loading system defects. Test bench mainly applied in all kinds of load simulation test of rotating specimens, such as: transmission, motor, vehicle wheel bridge, etc.
This paper first builds the transfer function block diagram model and bond graph model (multi-freedom degree) of the loading system with flexible loop. The accuracy of the models has been validated by experiments. The models have offered the reliable basis to the characteristic analysis of loading system. Using the transfer function block diagram model, frequency domain analysis has been made for prestage displacement control system, drive unit speed control system and loading unit torque control system. Contrast the simulation curve with and without PID and the influence of flexible loop on the loading system has been studied by means of simulation analysis.At the same time, time domain analysis has been made for the system listed above and the influence law of system inherent parameters、control parameters, many conclusions with reference value have been gained and the conclusions offer dependable reference for the design of the loading system.
To improve the control performance and the robustness of the system, the paper adopts fuzzy control and dynamic robust compensation control and designs fuzzy controller and dynamic robust compensation controller and validates the availability of the two methods. The research fruit about the control strategies listed above establishes the foundation for enhancing the performance of the loading system and for the design and development of system control software.
文章建立了旋转试件加载系统的多自由度传递函数方块图模型和功率键合图模型,模型的正确性经试验得到验证,为加载系统的特性分析奠定了可靠基础。利用传递函数方块图模型,对前置级排量控制系统、转速控制系统、转矩控制系统分别进行频域分析,对比了PID校正前后的仿真曲线,分析了柔性环节对系统稳定性的影响及变化规律。同时对如上各种系统进行了时域仿真分析,揭示了系统固有参数、控制器参数等对模拟加载系统动态性能的影响规律,得到许多有参考价值的结论,为旋转试件模拟加载系统的设计,提供了可靠依据。
为了改善系统的控制性能,提高系统的鲁棒性,本文引入模糊控制、动态鲁棒补偿控制方法,设计了模糊控制器和动态鲁棒补偿控制器,并通过仿真验证了这两种方法的有效性。如上控制策略的研究成果,为提高模拟加载系统的工作性能以及系统控制软件的设计与开发等奠定了基础。
Rotation specimen load test developed based on the principle of secondary regulation is a new type of rotating the specimen loading test equipment in recent years. The new test bench with its accurate, flexible and reliable control superiority and the good dynamic performance greatly offset the traditional hydraulic loading system defects. Test bench mainly applied in all kinds of load simulation test of rotating specimens, such as: transmission, motor, vehicle wheel bridge, etc.
This paper first builds the transfer function block diagram model and bond graph model (multi-freedom degree) of the loading system with flexible loop. The accuracy of the models has been validated by experiments. The models have offered the reliable basis to the characteristic analysis of loading system. Using the transfer function block diagram model, frequency domain analysis has been made for prestage displacement control system, drive unit speed control system and loading unit torque control system. Contrast the simulation curve with and without PID and the influence of flexible loop on the loading system has been studied by means of simulation analysis.At the same time, time domain analysis has been made for the system listed above and the influence law of system inherent parameters、control parameters, many conclusions with reference value have been gained and the conclusions offer dependable reference for the design of the loading system.
To improve the control performance and the robustness of the system, the paper adopts fuzzy control and dynamic robust compensation control and designs fuzzy controller and dynamic robust compensation controller and validates the availability of the two methods. The research fruit about the control strategies listed above establishes the foundation for enhancing the performance of the loading system and for the design and development of system control software.
引文
[1]王慧.基于二次调节的车辆轮桥加载系统分析与控制策略研究.哈尔滨工业大学博士学位论文.2005,1.
[2]曾光奇.模糊控制理论与工程应用[M].华中科技大学出版社.2006:57-85
[3]王慧.李洪人.车辆传动桥模拟加载系统的特性分析[J].机床与液压2003,2.
[4]李文华,王慧.汽车传动桥二次调节模拟加载系统特性分析[J].辽宁工程技术大学学报,2004,6.
[5]王慧,李洪人,齐潘国.二次调节伺服加载试验台转速控制系统的动态鲁棒补偿[J].机床与液压2004,10.
[6]王慧,张建卓,钟海波,刘玉峰.二次调节伺服加载系统的耦合影响. [J].辽宁工程技术大学学报,2006,12.
[7]任锦堂.键图理论及应用[M].上海:上海交通
[8]夏必忠.功率键合图在液压系统动态特性数字仿真研究中的应用.湛江师范学院学报(自然科学版). 1997, 18(4): 45-48
[9] T. Kohda, et al. Disturbance analysis using a system bond graph model. Reliability and Maintainability symposium. 2000: 358-364
[10]董景新.控制工程基础[M].清华大学出版社.2003
[11]沙道航.电液伺服系统鲁棒最优控制的研究.机床与液压. 1997, (5): 16-18
[12] J. K. Zhang, B. C. Feng, M. S. Fei. Robust Output Feedback Tracking for a Class of Uncertain Nonlinear Systems. Control Theory & Applications. 2001, 20(2): 173-179
[13] Z. Xu, Q. Q. Hu, T. Y. Chai. New Design for Inferential Control System. Control Theory & Applications. 2000, 17(6): 853-860
[14]丁国锋,王孙安,林廷圻,史维祥.模糊PID串级控制在电液伺服系统中的应用.机床与液压. 1999, (2): 10-11
[15]刘金琨.先进PID控制及MATLAB仿真.电子工业出版社. 2002: 186-190
[16]姜继海,韩永刚,王德海,刘庆和.二次调节静压驱动系统的智能PID控制.哈尔滨工业大学学报. 1998, (1): 45-48
[17]蒋小夏,刘庆和.二次调节系统的模型简化和位置控制.机床与液压. 1994, (6): 354-356
[18]金力民,路甬祥,吴根茂.采用非线性补偿算法克服二次调节系统的低速滞环.液压与气动.1991, (3): 6-8
[19]田联房.次级调节扭矩伺服系统加载技术及其控制方法的研究.哈尔滨工业大学博士学位论文. 1997: 1-6
[20]陆贵友,张慧娟.电加载机械传动实验台的设计.吉林工业大学自然科学学报. 1999, (3): 100-102
[21]姜继海.二次调节静液传动系统及其控制技术的研究.哈尔滨工业大学博士学位论文.1998: 2-5
[22]李洪人.液压控制系统.国防工业出版社, 1990: 60-67, 144-145
[23]王占林.近代液压控制.机械工业出版社, 1997: 132-140
[24]田树军.液压系统动态建模与仿真方法研究及通用仿真软件包开发.大连理工大学博士学位论文. 1991: 78-93
[25]黎启柏,陈刚,朱建辉.二次调节液压系统的开关-模糊-PID控制.机床与液压. 2003, (5): 90-92
[26]罗绍新,王芙蓉.电液比例阀控系统的自学习模糊控制的研究.机床与液压. 2002, (3): 54-56
[27]管杨新,胡大邦,王奕豫.电液位置同步伺服系统的模糊控制研究.机床与液压. 2002, (1): 83-85
[28]李士勇.模糊控制·神经控制和智能能控制论.哈尔滨工业大学出版社. 1996: 254-279
[29] Y. H. Zhu, C. S. Jiang. Robust Control of a Class of Nonlinear System with Time-varying Parametric Uncertainties. Transactions of Nanjing University of Aeronautics & Astronautics. 2003, 20(1): 97-102
[30]申永军,史维祥,王孙安.液压系统H∞控制器的设计.兰州大学学报(自然科学版). 2002, 38(2): 72-76
[31]党开放,周瑞祥,林廷圻.基于模型参考模糊自适应的电液位置伺服系统鲁棒控制研究.机床与液压. 2003,(4): 208-210
[32] S. Y. Yang, A. Luo, P. X. Fan. Adaptive Robust Iterative Learning Control for Uncertain Robotic Systems. Control Theory & Applications. 2003, 20(5): 707-712
[33] Y. H. Zhu, C. S. Jiang, S. M. Fei. Robust Adaptive Dynamic Surface Control for Nonlinear Uncertain Systems. Journal of Southeast University. 2002, 19(2): 126-131
[34] S. C. Tong, X. M. Zhang. Observer-based Robust Control of Nonlinear System with Parametric Uncertainties. Control Theory & Applications. 2003, 20(2): 269-276
[35]陈卫田,颜世田,张正强.不确定非线性系统的鲁棒自适应控制器.数学物理学报. 2002, 22 (2): 194-202
[36]佟绍成,王艳平,王涛.基于状态观测器的一类非线性系统的模糊鲁棒控制.控制与决策. 2001, 16(1): 62-68
[37]李大中,王晓慧,张爱平.非线性鲁棒控制方法的新进展.热能动力工程. 2003, 18(3): 220-223
[38] J. K. Liu. L. J. Er. QFTR Robust Design for 3-Axis Flight Table Servo System with Large Friction. Chinese Journal of Aeronautics. 2004, 17(1): 34-38
[39]段锁林,王明智.电液位置伺服系统的自适应滑模鲁棒跟踪控制.中国机械工程. 2004, 15(3): 202-205
[40]钟庆昌,谢剑英,李辉.变参数PID控制.信息与控制. 2000, 28(4): 273-277
[41] N. Guijarro, et al. Infinite dimensional models: approximation and realization Decision and Control, 2000. Proceedings of the 39th IEEE Conference on, 2000, 4: 3295-3300
[42] Yong Ye, K. Youcef-Toumi. Subsystem’s influence on a system eigenvalue. Southeastcon 2000. Proceedings of the IEEE. 2000: 261-267
[43]吉明.鲁棒控制系统[M].哈尔滨工业大学出版社.2002
[2]曾光奇.模糊控制理论与工程应用[M].华中科技大学出版社.2006:57-85
[3]王慧.李洪人.车辆传动桥模拟加载系统的特性分析[J].机床与液压2003,2.
[4]李文华,王慧.汽车传动桥二次调节模拟加载系统特性分析[J].辽宁工程技术大学学报,2004,6.
[5]王慧,李洪人,齐潘国.二次调节伺服加载试验台转速控制系统的动态鲁棒补偿[J].机床与液压2004,10.
[6]王慧,张建卓,钟海波,刘玉峰.二次调节伺服加载系统的耦合影响. [J].辽宁工程技术大学学报,2006,12.
[7]任锦堂.键图理论及应用[M].上海:上海交通
[8]夏必忠.功率键合图在液压系统动态特性数字仿真研究中的应用.湛江师范学院学报(自然科学版). 1997, 18(4): 45-48
[9] T. Kohda, et al. Disturbance analysis using a system bond graph model. Reliability and Maintainability symposium. 2000: 358-364
[10]董景新.控制工程基础[M].清华大学出版社.2003
[11]沙道航.电液伺服系统鲁棒最优控制的研究.机床与液压. 1997, (5): 16-18
[12] J. K. Zhang, B. C. Feng, M. S. Fei. Robust Output Feedback Tracking for a Class of Uncertain Nonlinear Systems. Control Theory & Applications. 2001, 20(2): 173-179
[13] Z. Xu, Q. Q. Hu, T. Y. Chai. New Design for Inferential Control System. Control Theory & Applications. 2000, 17(6): 853-860
[14]丁国锋,王孙安,林廷圻,史维祥.模糊PID串级控制在电液伺服系统中的应用.机床与液压. 1999, (2): 10-11
[15]刘金琨.先进PID控制及MATLAB仿真.电子工业出版社. 2002: 186-190
[16]姜继海,韩永刚,王德海,刘庆和.二次调节静压驱动系统的智能PID控制.哈尔滨工业大学学报. 1998, (1): 45-48
[17]蒋小夏,刘庆和.二次调节系统的模型简化和位置控制.机床与液压. 1994, (6): 354-356
[18]金力民,路甬祥,吴根茂.采用非线性补偿算法克服二次调节系统的低速滞环.液压与气动.1991, (3): 6-8
[19]田联房.次级调节扭矩伺服系统加载技术及其控制方法的研究.哈尔滨工业大学博士学位论文. 1997: 1-6
[20]陆贵友,张慧娟.电加载机械传动实验台的设计.吉林工业大学自然科学学报. 1999, (3): 100-102
[21]姜继海.二次调节静液传动系统及其控制技术的研究.哈尔滨工业大学博士学位论文.1998: 2-5
[22]李洪人.液压控制系统.国防工业出版社, 1990: 60-67, 144-145
[23]王占林.近代液压控制.机械工业出版社, 1997: 132-140
[24]田树军.液压系统动态建模与仿真方法研究及通用仿真软件包开发.大连理工大学博士学位论文. 1991: 78-93
[25]黎启柏,陈刚,朱建辉.二次调节液压系统的开关-模糊-PID控制.机床与液压. 2003, (5): 90-92
[26]罗绍新,王芙蓉.电液比例阀控系统的自学习模糊控制的研究.机床与液压. 2002, (3): 54-56
[27]管杨新,胡大邦,王奕豫.电液位置同步伺服系统的模糊控制研究.机床与液压. 2002, (1): 83-85
[28]李士勇.模糊控制·神经控制和智能能控制论.哈尔滨工业大学出版社. 1996: 254-279
[29] Y. H. Zhu, C. S. Jiang. Robust Control of a Class of Nonlinear System with Time-varying Parametric Uncertainties. Transactions of Nanjing University of Aeronautics & Astronautics. 2003, 20(1): 97-102
[30]申永军,史维祥,王孙安.液压系统H∞控制器的设计.兰州大学学报(自然科学版). 2002, 38(2): 72-76
[31]党开放,周瑞祥,林廷圻.基于模型参考模糊自适应的电液位置伺服系统鲁棒控制研究.机床与液压. 2003,(4): 208-210
[32] S. Y. Yang, A. Luo, P. X. Fan. Adaptive Robust Iterative Learning Control for Uncertain Robotic Systems. Control Theory & Applications. 2003, 20(5): 707-712
[33] Y. H. Zhu, C. S. Jiang, S. M. Fei. Robust Adaptive Dynamic Surface Control for Nonlinear Uncertain Systems. Journal of Southeast University. 2002, 19(2): 126-131
[34] S. C. Tong, X. M. Zhang. Observer-based Robust Control of Nonlinear System with Parametric Uncertainties. Control Theory & Applications. 2003, 20(2): 269-276
[35]陈卫田,颜世田,张正强.不确定非线性系统的鲁棒自适应控制器.数学物理学报. 2002, 22 (2): 194-202
[36]佟绍成,王艳平,王涛.基于状态观测器的一类非线性系统的模糊鲁棒控制.控制与决策. 2001, 16(1): 62-68
[37]李大中,王晓慧,张爱平.非线性鲁棒控制方法的新进展.热能动力工程. 2003, 18(3): 220-223
[38] J. K. Liu. L. J. Er. QFTR Robust Design for 3-Axis Flight Table Servo System with Large Friction. Chinese Journal of Aeronautics. 2004, 17(1): 34-38
[39]段锁林,王明智.电液位置伺服系统的自适应滑模鲁棒跟踪控制.中国机械工程. 2004, 15(3): 202-205
[40]钟庆昌,谢剑英,李辉.变参数PID控制.信息与控制. 2000, 28(4): 273-277
[41] N. Guijarro, et al. Infinite dimensional models: approximation and realization Decision and Control, 2000. Proceedings of the 39th IEEE Conference on, 2000, 4: 3295-3300
[42] Yong Ye, K. Youcef-Toumi. Subsystem’s influence on a system eigenvalue. Southeastcon 2000. Proceedings of the IEEE. 2000: 261-267
[43]吉明.鲁棒控制系统[M].哈尔滨工业大学出版社.2002
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