三轴电控转台控制方案设计与抗干扰问题研究
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摘要
转台作为半实物仿真的关键设备,在航空、航天工业和国防建设等领域中起着极其重要的作用。转台性能的优劣直接关系到仿真和测试试验的可靠性和置信度,是保证航空、航天型号产品和武器系统精度及性能的基础。因此,研制出高精度、高性能的转台对于我国航空、航天工业和国防建设的发展具有重要的意义。
本论文以实际科研课题为背景,将某型三轴电控转台作为研究对象。文中首先推导了转台的一般数学模型并分析了转台控制系统,接着给出了三轴电控转台系统的各项性能指标,针对该指标要求进行了系统总体方案设计。
针对外环系统惯量变化较大的问题,采用滑模变结构控制方法,设计了位置环控制器,并利用MATLAB软件进行了控制系统仿真,将滑模变结构控制效果与经典PID控制效果作了比较。
针对三轴电控转台系统中存在的各种外界干扰进行了分析,利用变结构控制和干扰观测器对这些干扰进行了抑制,通过MATLAB软件得到了干扰抑制效果仿真曲线。
最后根据三轴电控转台系统软件设计要求,采用模块化的方式对三轴电控转台系统控制软件进行了设计,并给出了详细的软件设计流程图。对采用变结构控制方案的转台系统进行了性能指标检测,得到了大量的实测曲线。通过分析这些实测曲线,验证了变结构控制的有效性。
As a key equipment for hardware-in-the-loop simulation, the turntable plays an important role in the fields of aeronautic and astronautic industry and defense construction. The performance of turntable directly impact the reliability and fidelity of the simulation and measurement test, and is the foundation to guarantee the precision and performance of the aeronautic, astronautic products and weapon systems. Therefore, it makes great sense to the aeronautic and astronautic industry and defense construction by developing the turntable which is more precise.
This dissertation is written on the background of a practical research project, and the research object is a certain type of three-axis electric-control turntable. At first, the general mathematical model of turntable and the platform control system are given. Then, the overall scheme of the turntable system is designed according to the performance requirements of the three-axis electric-control turntable system.
In view of the problem of the great change of external-loop system’s inertia, a position-loop controller is designed by using the method of sliding mode variable structure control. Then, the simulation is made by means of MATLAB software, and the control effect of the turntable system is compared between the two methods of sliding mode variable structure control and classical PID.
Analyzing the various unknown disturbances, the method of variable structure control and disturbance observer are used to restrain interference, and the simulation curves are got by MATLAB software.
At last, according to the requirement of system software design, the system control software is designed by using modular design method, and the detailed software flow chart is given. Then, the performance index detection is carried out to the turntable system using the method of variable structure control, and a lot of measured curves are got. The result proves that the variable structure control can enhance the turntable’s performance.
本论文以实际科研课题为背景,将某型三轴电控转台作为研究对象。文中首先推导了转台的一般数学模型并分析了转台控制系统,接着给出了三轴电控转台系统的各项性能指标,针对该指标要求进行了系统总体方案设计。
针对外环系统惯量变化较大的问题,采用滑模变结构控制方法,设计了位置环控制器,并利用MATLAB软件进行了控制系统仿真,将滑模变结构控制效果与经典PID控制效果作了比较。
针对三轴电控转台系统中存在的各种外界干扰进行了分析,利用变结构控制和干扰观测器对这些干扰进行了抑制,通过MATLAB软件得到了干扰抑制效果仿真曲线。
最后根据三轴电控转台系统软件设计要求,采用模块化的方式对三轴电控转台系统控制软件进行了设计,并给出了详细的软件设计流程图。对采用变结构控制方案的转台系统进行了性能指标检测,得到了大量的实测曲线。通过分析这些实测曲线,验证了变结构控制的有效性。
As a key equipment for hardware-in-the-loop simulation, the turntable plays an important role in the fields of aeronautic and astronautic industry and defense construction. The performance of turntable directly impact the reliability and fidelity of the simulation and measurement test, and is the foundation to guarantee the precision and performance of the aeronautic, astronautic products and weapon systems. Therefore, it makes great sense to the aeronautic and astronautic industry and defense construction by developing the turntable which is more precise.
This dissertation is written on the background of a practical research project, and the research object is a certain type of three-axis electric-control turntable. At first, the general mathematical model of turntable and the platform control system are given. Then, the overall scheme of the turntable system is designed according to the performance requirements of the three-axis electric-control turntable system.
In view of the problem of the great change of external-loop system’s inertia, a position-loop controller is designed by using the method of sliding mode variable structure control. Then, the simulation is made by means of MATLAB software, and the control effect of the turntable system is compared between the two methods of sliding mode variable structure control and classical PID.
Analyzing the various unknown disturbances, the method of variable structure control and disturbance observer are used to restrain interference, and the simulation curves are got by MATLAB software.
At last, according to the requirement of system software design, the system control software is designed by using modular design method, and the detailed software flow chart is given. Then, the performance index detection is carried out to the turntable system using the method of variable structure control, and a lot of measured curves are got. The result proves that the variable structure control can enhance the turntable’s performance.
引文
1卫永霞.浅谈仿真技术.山西师大体育学院学报研究生论文专刊. 2006, 21: 163~164
2杨晓敏,马伊民.通信卫星转发器系统的半实物仿真.空间电子技术. 2005, 4: 57~60
3徐俊强,徐安飞.指挥自动化系统半实物仿真中的时间同步方案.计算机仿真. 2006, 23(2): 245~248
4孙永奎.高精度转台伺服控制系统的研究.电子科技大学硕士学位论文. 2004
5张锦江等.三轴仿真转台的总体设计与关键技术研究.系统仿真学报. 1999, 11(6): 446~449
6 M. Zhuang, D. P. Atherton. Automatic tuning of optimum PID controllers. IEE Proc. on Control and Applications. 1993, 140: 216~224
7 Song-Shyong Chen, Yuan-Chang Chang. Design Fuzzy Controllers Based on T-S Fuzzy Model via Control Lyapunov Function. Proceedings of the second International Conference on Machine Learning and Cybernetics. 2003: 608~613
8 Huaguang Zhang, Mingjun Zhang. Robust Direct Adaptive Fuzzy Control for Nonlinear MIMO Systems. Progress in Natural Science. 2006, 16(10): 1098~1105
9孟凡伟.三轴飞行仿真转台伺服控制系统设计研究.哈尔滨工业大学硕士学位论文. 2001
10吕东方. EDT-IIIA型三轴仿真转台伺服控制系统研制.哈尔滨工业大学硕士学位论文. 2001
11郎需英.三轴惯导测试台.系统仿真学报. 2001, 13(2): 266
12刘春芳,吴盛林,曹健.三轴飞行模拟仿真转台的设计及控制问题研究.中国惯性技术学报. 2003, 11(1): 62~66
13 P. C. Sen. Electric Motor Drives and Control-past, present and future. IEEE, Trans. Ind. Electron. 1990, 37: 562~575
14 Y. Dote. Application of Modern Control Techniques to Motor Control. Proc. IEEE. 1998, 76: 438~454
15 W. Gao, J. C. Hung. Variable Structure Control of Nonlinear Systems: a NewApproach. IEEE, Trans. Ind. Electron. 1993, 40: 45~55
16 J. S. Ko, M. J. Youn. Robust Digital Position Control of Brushless DC Motor with Adaptive Load Torque Observer. Proc. IEEE, Pt. B. 1994, 141: 63~70
17席裕庚.关于预测控制的进一步思考.控制理论与应用. 1994, 11(2): 219~221
18 H. R. Beren, P. Khedkar. Learning and Tuning Fuzzy Logic Controllers through Reinforcements. IEEE, Trans. on Neural Networks. 1992, 3(5): 724~740
19 J. S. Albus. A New Approach to Manipulator Control: the Cerebellar Model Articulation Controller(CMAC). Journal of Dynamics Systems. Measurement and Control. 1975, 97: 220~227
20罗仕鉴,朱上上,孙守迁.人机界面设计.第一版.北京:机械工业出版社. 2002: 10~25
21胡祐德,曾乐生,马东升.伺服系统原理与设计.第一版.北京:北京理工大学出版社, 1993
22 Haicen Mao, Tianxu Zhang. A Flexible DSP-Based Network for Real-Time Image-Processing. Wuhan University Journal of Natural Sciences. 2004, 9(6): 921~926
23曾鸣.精密伺服转台的几个设计问题研究.哈尔滨工业大学博士学位论文. 1999
24秦继荣,沈安俊.现代直流伺服控制技术及其系统设计.第一版.北京:机械工业出版社, 1993: 105~130
25 V. I. Utkin. Variable structure with sliding modes. IEEE Transactions On Automatic Control. 1977, 22(2): 212~222
26陈翰馥.控制理论的现状及对它的期望.信息与控制. 1994, 23(l): 34~37
27高为炳.变结构控制的理论及设计方法.第一版.科学出版社, 1996: 38~47
28姚琼荟,黄继起,吴汉松.变结构控制系统.第一版.重庆:重庆大学出版社, 1997
29 V. I. Utkin. Sliding modes and their application in disconuous systems. Automation and Remote Control. 1974, 21: 1898~1907
30 J. J. Slotine, S. S. Sastry. Tracking control of nonlinear systems using sliding surfaces with application to robot manipulator. International Journal of Control. 1983, 38(2): 465~492
31刘金琨.滑模变结构控制MATLAB仿真.第一版.北京:清华大学出版社,2005: 57~68
32 C. Canudas de Wit, H. Olsson, K. J. htrom and P. Lischinsky. A New Model for Control of Systems with Friction. IEEE Transactions On Automatic Control. 1995, 40(3): 419~425
33于志伟,曾鸣.一种新的干扰力矩补偿方法在测试转台中的应用.航空精密制造技术. 2008, 44(5): 9~12
34邵长胜,张克.带伺服滑环和空气静压轴承的转台主轴干扰力矩的实验研究.宇航学报. 2001, 22(3): 81~85
35刘强,尔联洁,刘金琨.摩擦非线性环节的特性、建模与控制补偿综述.系统工程与电子技术. 2002, 24(11): 45~52
36张卯瑞,梅晓榕,庄显义.高精度液压伺服系统改善低速性能的几项措施.哈尔滨工业大学学报. 1998, 30(4): 66~69
37 A. Yazdizadeh, K. Khorasani. Adaptive friction compensation based on the Lyapunov scheme. Proc. of the IEEE International Conference On Control Application, 1996: 1060~1065
38 T. L. Liao, T. I. Chen. An exponentially stable adaptive friction compensator. IEEE Trans. on Automatic Control. 2000, 45(5): 977~980
39 K. M. Misovec, A. M. Annaswamy. Friction compensation using adaptive nonlinear control with persistent excitation. International Journal of Control. 1999, 72(7): 457~479
40 D. C. Karnopp. Computer Simulation of Stickslip Friction in Mechanical Dynamic Systems. ASME J, Dynamic Systems, Measurement and Control. 1985, 107(1): 100~103
41 B. Armstrong, P. Dupont, C. Canudas de Wit. A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction. Automatica. 1994, 30(7): 1083~1138
42周长义.三轴飞行仿真转台控制系统设计与控制算法研究.中国科学院研究生院博士学位论文. 2005
43解磊.基于变结构控制策略的转台控制技术研究.南京航天航空大学硕士学位论文. 2006
44 M. Al-Majed. High Performance Machine Tool Controllers-A Control Theoretic Study and PC-Based Realization,[Ph.D.Dissertation]. University of California at Berkeley. 1997
45王军平,陈世全.基于扰动观测器的伺服控制器设计及仿真研究.系统仿真学报. 2004, 16(8): 1825~1827
46 Maarten Boasson. Control Systems Software. IEEE Transactions On Automatic Control. 1993, 38(7): 1094~1106
47陈康.转台系统通用软件的研究.西北工业大学硕士学位论文. 2004
48董海瑞,高连生.三轴仿真转台上位机控制软件的研究.工业控制计算机. 2007, 20(12): 52~54
49高连生、杨剑楠.三轴仿真转台上位机软件设计.硅谷. 2008, 21: 116
50武安河,邰铭,于洪涛. Windows 2000/XP WDM设备驱动程序开发.第一版.北京:电子工业出版社. 2005: 77~108
51孙鑫,余安萍. VC++深入详解.北京:电子工业出版社. 2007: 53~184
2杨晓敏,马伊民.通信卫星转发器系统的半实物仿真.空间电子技术. 2005, 4: 57~60
3徐俊强,徐安飞.指挥自动化系统半实物仿真中的时间同步方案.计算机仿真. 2006, 23(2): 245~248
4孙永奎.高精度转台伺服控制系统的研究.电子科技大学硕士学位论文. 2004
5张锦江等.三轴仿真转台的总体设计与关键技术研究.系统仿真学报. 1999, 11(6): 446~449
6 M. Zhuang, D. P. Atherton. Automatic tuning of optimum PID controllers. IEE Proc. on Control and Applications. 1993, 140: 216~224
7 Song-Shyong Chen, Yuan-Chang Chang. Design Fuzzy Controllers Based on T-S Fuzzy Model via Control Lyapunov Function. Proceedings of the second International Conference on Machine Learning and Cybernetics. 2003: 608~613
8 Huaguang Zhang, Mingjun Zhang. Robust Direct Adaptive Fuzzy Control for Nonlinear MIMO Systems. Progress in Natural Science. 2006, 16(10): 1098~1105
9孟凡伟.三轴飞行仿真转台伺服控制系统设计研究.哈尔滨工业大学硕士学位论文. 2001
10吕东方. EDT-IIIA型三轴仿真转台伺服控制系统研制.哈尔滨工业大学硕士学位论文. 2001
11郎需英.三轴惯导测试台.系统仿真学报. 2001, 13(2): 266
12刘春芳,吴盛林,曹健.三轴飞行模拟仿真转台的设计及控制问题研究.中国惯性技术学报. 2003, 11(1): 62~66
13 P. C. Sen. Electric Motor Drives and Control-past, present and future. IEEE, Trans. Ind. Electron. 1990, 37: 562~575
14 Y. Dote. Application of Modern Control Techniques to Motor Control. Proc. IEEE. 1998, 76: 438~454
15 W. Gao, J. C. Hung. Variable Structure Control of Nonlinear Systems: a NewApproach. IEEE, Trans. Ind. Electron. 1993, 40: 45~55
16 J. S. Ko, M. J. Youn. Robust Digital Position Control of Brushless DC Motor with Adaptive Load Torque Observer. Proc. IEEE, Pt. B. 1994, 141: 63~70
17席裕庚.关于预测控制的进一步思考.控制理论与应用. 1994, 11(2): 219~221
18 H. R. Beren, P. Khedkar. Learning and Tuning Fuzzy Logic Controllers through Reinforcements. IEEE, Trans. on Neural Networks. 1992, 3(5): 724~740
19 J. S. Albus. A New Approach to Manipulator Control: the Cerebellar Model Articulation Controller(CMAC). Journal of Dynamics Systems. Measurement and Control. 1975, 97: 220~227
20罗仕鉴,朱上上,孙守迁.人机界面设计.第一版.北京:机械工业出版社. 2002: 10~25
21胡祐德,曾乐生,马东升.伺服系统原理与设计.第一版.北京:北京理工大学出版社, 1993
22 Haicen Mao, Tianxu Zhang. A Flexible DSP-Based Network for Real-Time Image-Processing. Wuhan University Journal of Natural Sciences. 2004, 9(6): 921~926
23曾鸣.精密伺服转台的几个设计问题研究.哈尔滨工业大学博士学位论文. 1999
24秦继荣,沈安俊.现代直流伺服控制技术及其系统设计.第一版.北京:机械工业出版社, 1993: 105~130
25 V. I. Utkin. Variable structure with sliding modes. IEEE Transactions On Automatic Control. 1977, 22(2): 212~222
26陈翰馥.控制理论的现状及对它的期望.信息与控制. 1994, 23(l): 34~37
27高为炳.变结构控制的理论及设计方法.第一版.科学出版社, 1996: 38~47
28姚琼荟,黄继起,吴汉松.变结构控制系统.第一版.重庆:重庆大学出版社, 1997
29 V. I. Utkin. Sliding modes and their application in disconuous systems. Automation and Remote Control. 1974, 21: 1898~1907
30 J. J. Slotine, S. S. Sastry. Tracking control of nonlinear systems using sliding surfaces with application to robot manipulator. International Journal of Control. 1983, 38(2): 465~492
31刘金琨.滑模变结构控制MATLAB仿真.第一版.北京:清华大学出版社,2005: 57~68
32 C. Canudas de Wit, H. Olsson, K. J. htrom and P. Lischinsky. A New Model for Control of Systems with Friction. IEEE Transactions On Automatic Control. 1995, 40(3): 419~425
33于志伟,曾鸣.一种新的干扰力矩补偿方法在测试转台中的应用.航空精密制造技术. 2008, 44(5): 9~12
34邵长胜,张克.带伺服滑环和空气静压轴承的转台主轴干扰力矩的实验研究.宇航学报. 2001, 22(3): 81~85
35刘强,尔联洁,刘金琨.摩擦非线性环节的特性、建模与控制补偿综述.系统工程与电子技术. 2002, 24(11): 45~52
36张卯瑞,梅晓榕,庄显义.高精度液压伺服系统改善低速性能的几项措施.哈尔滨工业大学学报. 1998, 30(4): 66~69
37 A. Yazdizadeh, K. Khorasani. Adaptive friction compensation based on the Lyapunov scheme. Proc. of the IEEE International Conference On Control Application, 1996: 1060~1065
38 T. L. Liao, T. I. Chen. An exponentially stable adaptive friction compensator. IEEE Trans. on Automatic Control. 2000, 45(5): 977~980
39 K. M. Misovec, A. M. Annaswamy. Friction compensation using adaptive nonlinear control with persistent excitation. International Journal of Control. 1999, 72(7): 457~479
40 D. C. Karnopp. Computer Simulation of Stickslip Friction in Mechanical Dynamic Systems. ASME J, Dynamic Systems, Measurement and Control. 1985, 107(1): 100~103
41 B. Armstrong, P. Dupont, C. Canudas de Wit. A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction. Automatica. 1994, 30(7): 1083~1138
42周长义.三轴飞行仿真转台控制系统设计与控制算法研究.中国科学院研究生院博士学位论文. 2005
43解磊.基于变结构控制策略的转台控制技术研究.南京航天航空大学硕士学位论文. 2006
44 M. Al-Majed. High Performance Machine Tool Controllers-A Control Theoretic Study and PC-Based Realization,[Ph.D.Dissertation]. University of California at Berkeley. 1997
45王军平,陈世全.基于扰动观测器的伺服控制器设计及仿真研究.系统仿真学报. 2004, 16(8): 1825~1827
46 Maarten Boasson. Control Systems Software. IEEE Transactions On Automatic Control. 1993, 38(7): 1094~1106
47陈康.转台系统通用软件的研究.西北工业大学硕士学位论文. 2004
48董海瑞,高连生.三轴仿真转台上位机控制软件的研究.工业控制计算机. 2007, 20(12): 52~54
49高连生、杨剑楠.三轴仿真转台上位机软件设计.硅谷. 2008, 21: 116
50武安河,邰铭,于洪涛. Windows 2000/XP WDM设备驱动程序开发.第一版.北京:电子工业出版社. 2005: 77~108
51孙鑫,余安萍. VC++深入详解.北京:电子工业出版社. 2007: 53~184
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