主动平衡减速器的控制算法及原理性实验研究

发布时间：2018-02-09 02:29

本文关键词： 主动平衡状态空间滑模控制前馈控制实验研究　出处：《北京交通大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着现代工业的快速发展,机械的运转速度不断提高,与此同时带来的惯性作用明显增加,由此带来的噪音、震动等问题的出现已经严重影响到机器的工作性能和使用寿命。为了适应现在高精度、高效率的工作要求,提高机械的动力性能,有必要对机械的平衡问题进行深入研究,探求减小惯性作用的不良影响,改善机械动力品质的新方法。本文研究的重点在于针对主动平衡减速器样机的控制算法和原理性实验进行研究,以通过选择和设计响应迅速、性能好的控制系统,确保主动平衡减速器的主动平衡功能得以更好的实现。具体研究包括：首先,在建立主动平衡减速器和伺服电机的动力学模型的基础上,建立了系统的机电耦合动力学模型,进而建立了整个系统的状态空间方程。然后,根据状态空间方程,基于高阶滑模控制和非线性终端滑模面的设计原则,为主动平衡减速器设计了二阶终端滑模控制系统,对其进行了仿真研究,并对基于负载转矩观测器和转动惯量辨识器的速度前馈系统进行了研究和仿真。最后,进行了主动平衡减速器的实验研究,包括主动平衡减速器对机械系统动力性能的影响、滑模控制系统的控制性能和滑模控制算法对主动平衡减速器功能的影响。本文采取理论研究、计算机仿真和实验研究相结合的方法,对主动平衡减速器的控制算法进行了研究,验证了主动平衡减速器对机械动力性能的改善作用,以及滑模控制算法良好的控制性能和在主动平衡减速器功能实现过程中的积极作用,为主动平衡减速器的推广和优化改进奠定了一定的理论基础和实践依据。
[Abstract]:With the rapid development of modern industry, the speed of machinery running is increasing, and the inertial action is obviously increasing. The emergence of vibration and other problems has seriously affected the working performance and service life of the machine. In order to meet the requirements of high precision and high efficiency and to improve the dynamic performance of machinery, it is necessary to conduct a thorough study on the balance of machinery. In order to reduce the bad effect of inertia and improve the mechanical dynamic quality, the emphasis of this paper is to study the control algorithm and principle experiment of the prototype of active balancing reducer, in order to respond quickly by selecting and designing. The control system with good performance ensures that the active balancing function of the active balancing reducer can be realized better. The specific research includes: firstly, on the basis of establishing the dynamic model of the active balancing reducer and servo motor, The electromechanical coupling dynamic model of the system is established, and then the state space equation of the whole system is established, and then, according to the state space equation, the design principle of high order sliding mode control and nonlinear terminal sliding mode surface is presented. The second order terminal sliding mode control system for active balancing reducer is designed and simulated. The speed feedforward system based on load torque observer and moment of inertia identifier is studied and simulated. The experimental study of active balancing reducer is carried out, including the influence of active balancing reducer on the dynamic performance of mechanical system. The control performance of sliding mode control system and the influence of sliding mode control algorithm on the function of active balancing reducer are studied in this paper. The effect of active balancing reducer on mechanical dynamic performance is verified, and the good control performance of sliding mode control algorithm and its positive role in realizing the function of active balancing reducer are verified. It lays a certain theoretical and practical basis for the promotion and optimization improvement of active balancing reducer.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH132.46;TP273

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