连续回转电液伺服马达预测函数控制研究

发布时间：2018-01-03 20:23

本文关键词：连续回转电液伺服马达预测函数控制研究　出处：《哈尔滨理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着我国经济水平的快速发展和科技实力的不断增强,仿真转台在航空航天和国防工业中得到越来越多的应用,在国计民生中发挥了重要作用。连续回转电液伺服马达作为仿真转台的核心组成部分,要求具有良好的“超低速、高频响、宽调速、高精度”性能。在此背景下,本文对连续回转电液伺服马达及其控制系统进行研究。通过查阅大量的国内外相关文献资料,简要回顾国内仿真转台用连续回转电液伺服马达的发展历程,介绍电液伺服系统的结构、特点及常用控制方法和应用,概述预测函数控制(PFC)的发展现况,在此背景下提出本文的研究内容。针对影响连续回转电液伺服马达低速性能的两大主要因素泄漏和摩擦,首先从马达内泄漏产生的根本原因出发,考虑运动部件的表面粗糙度,根据平行平板间隙流量方程,建立连续回转马达关键部位的内泄漏方程,依次分析表面粗糙度、进出口压力差和转角对内泄漏量的影响。推导连续回转马达电液位置伺服系统的开环传递函数,建立摩擦干扰力矩模型。通过Simulink软件仿真不同泄漏系数下的低速跟踪曲线,分析内泄漏对低速稳定性的影响。阐释预测控制理论的内涵,详细说明预测函数控制的运算过程。在内模控制结构的基础上,设计PFC控制器。对系统给定斜坡信号和正弦信号,采用PID、PFC、PID-PFC复合算法进行仿真,结果证明PID-PFC复合控制器可以克服外界扰动和参数摄动问题,极大提高马达的响应速度和跟踪精度,拓宽系统频带宽度,满足双十指标的要求,系统的低速稳定性从而得到进一步提高。
[Abstract]:With the rapid development of our country's economic level and the increasing strength of science and technology, the simulation turntable has been applied more and more in aerospace and national defense industry. Continuous rotary electro-hydraulic servo motor, as the core part of the simulation turntable, requires good "ultra-low speed, high frequency response, wide speed regulation", which plays an important role in the national economy and the people's livelihood. Under this background, the continuous rotary electro-hydraulic servo motor and its control system are studied in this paper. This paper briefly reviews the development history of continuous rotary electro-hydraulic servo motor used in domestic simulation turntable, and introduces the structure, characteristics, common control methods and application of electro-hydraulic servo system. This paper summarizes the development of predictive function control (PFC), and puts forward the research contents of this paper under this background, aiming at the leakage and friction of two main factors that affect the low speed performance of continuous rotary electro-hydraulic servo motor. Firstly, considering the surface roughness of the moving parts, the internal leakage equation of the key parts of the continuous rotary motor is established according to the flow equation of the parallel plate clearance. The effects of surface roughness, inlet and outlet pressure difference and angle of rotation on internal leakage are analyzed in turn. The open loop transfer function of electro-hydraulic position servo system of continuous rotary motor is derived. The friction disturbance torque model is established. The low speed tracking curves under different leakage coefficients are simulated by Simulink software to analyze the influence of internal leakage on the low speed stability. The connotation of predictive control theory is explained. The operation process of predictive function control is described in detail. On the basis of the internal model control structure, the PFC controller is designed. The slope signal and sinusoidal signal of the system are given by PID-PFC. The simulation results of PID-PFC composite algorithm show that the PID-PFC composite controller can overcome the external disturbance and parameter perturbation problem and greatly improve the response speed and tracking accuracy of the motor. The stability of the system at low speed can be further improved by widening the bandwidth of the system to meet the requirements of double decimals.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137.5

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