直线电磁模拟加载系统的性能分析及控制研究

发布时间：2018-07-16 23:31

【摘要】：本课题组所研制的直线电磁模拟加载试验台对输出构件为直线运动的机械设备的模拟加载具有很好的应用价值,而其加载系统的磁滞非线性特性严重影响了加载精度。因此,针对直线电磁模拟加载系统的性能分析、磁滞建模和磁滞非线性补偿控制研究具有重要的意义。本文以直线电磁模拟加载试验台为研究对象,建立了加载系统的运动学、动力学模型及磁滞系统模型,设计了磁滞非线性补偿控制方案,并对以上分析研究结果进行了相应的仿真验证。具体工作如下:首先,论文对直线电磁模拟加载试验台的结构组成及工作原理做了详细的说明,并指出了由于磁粉制动器的磁滞特性,导致了加载系统的磁滞非线性问题。其次,论文根据试验台的机构运动简图,分别求得了加载头、偏心曲柄盘和连杆的运动学参数的表达式和曲线图:另外,在运动学分析的基础之上,将偏心曲柄盘作为加载系统等效动力学模型的等效构件,求得其等效力矩、等效转动惯量及其导数,从而建立了加载系统的等效动力学模型;同时,运用Adams软件对其运动学和动力学进行了仿真验证,进一步建立了加载系统的刚柔耦合模型并进行了仿真分析。再次,论文对磁粉制动器的工作原理进行了深入介绍,根据其工作原理建立了磁粉制动器的机理模型,分析了其磁滞特性及产生原因;同时,采用Duhem模型建立了磁粉制动器的磁滞模型,并运用递推最小二乘法对模型参数进行了辨识,建立了磁滞模型。最后,论文建立了加载系统的磁滞逆模型,根据冻结系数法研究了加载系统某一时刻的控制方案,分别采用了逆模型前馈补偿控制和逆模型前馈补偿的PID闭环控制的方法,在Matlab/Simulink环境下,对两种控制方法进行了仿真研究,控制方法对加载系统的磁滞补偿和加载精度的提高有一定效果,其中逆模型前馈补偿的PID闭环控制的效果更为明显。
[Abstract]:The linear electromagnetic simulation loading test-bed developed by our team has a good application value for the simulation loading of mechanical equipment with linear motion of the output component, and the hysteresis nonlinear characteristics of the loading system seriously affect the loading accuracy. Therefore, the study of hysteresis modeling and hysteresis nonlinear compensation control is of great significance for the performance analysis of linear electromagnetic simulation loading system. In this paper, the kinematics, dynamics model and hysteresis system model of the loading system are established, and the nonlinear compensation control scheme of the hysteresis is designed. The results of the above analysis are verified by simulation. The main work is as follows: firstly, the structure and working principle of the linear electromagnetic simulation loading test-bed are explained in detail, and it is pointed out that the hysteresis nonlinear problem of the loading system is caused by the hysteresis characteristics of the magnetic powder brake. Secondly, according to the kinematic diagram of the mechanism of the test bed, the expressions and curves of the kinematics parameters of the loading head, eccentric crank disk and connecting rod are obtained respectively. In addition, the kinematics analysis is carried out on the basis of the kinematics analysis. Taking the eccentric crank disk as the equivalent member of the equivalent dynamic model of the loading system, the equivalent moment of moment, equivalent moment of inertia and its derivative are obtained, and the equivalent dynamic model of the loading system is established. The kinematics and dynamics of the system are verified by using Adams software. The rigid-flexible coupling model of the loading system is established and the simulation analysis is carried out. Thirdly, the paper introduces the working principle of magnetic powder brake, establishes the mechanism model of magnetic powder brake, analyzes its hysteresis characteristics and causes, at the same time, The hysteresis model of magnetic powder brake is established by using Duhem model. The parameters of the model are identified by recursive least square method, and the hysteresis model is established. Finally, the hysteresis inverse model of the loading system is established. According to the freezing coefficient method, the control scheme of the loading system at a certain time is studied. The inverse model feedforward compensation control and the inverse model feedforward compensation pid closed-loop control are used respectively. In the environment of Matlab / Simulink, two control methods are simulated. The results show that the control method can improve the hysteresis compensation and the loading precision of the loading system, and the pid closed-loop control with the inverse model feedforward compensation is more obvious.
【学位授予单位】：西安理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137

【参考文献】