精密谐波齿轮传动系统建模与控制方法研究
发布时间：2019-05-24 13:11
【摘要】：伴随着现代科学技术的飞速发展,机电伺服系统呈现了小型化、轻量化、高精度和高动态特性的发展趋势,谐波传动、摆线传动、柔索传动、活齿传动等具有较高传动精度和良好动力学特性的传动方式在其中得到了越来越广泛的应用。对于上述这些传动方式的动力学特性和伺服控制方法进行研究有助于机电系统伺服性能的提升,具有一定理论和工程意义。谐波齿轮具有输出力矩大、结构紧凑、啮合空回小、传动精度高等许多优点,广泛应用于航空、航天、机器人、武器系统等领域中的伺服系统中,取得了良好的效果。随着系统伺服性能需求的提升,对谐波齿轮传动精度提出了更高的要求,需要对如何提高其伺服性能这一问题进行进一步的研究。本文针对精密谐波齿轮传动系统非线性动力学特性的建模问题和伺服补偿问题开展研究,根据对精密谐波齿轮传动系统的工作原理、动力学特性建模、模型参数辨识方法、非线性特性补偿控制、模型仿真方法、系统性能预测等方面的研究,建立了含摩擦、刚度和迟滞非线性特性的系统仿真模型,针对各种非线性特性设计了相应的补偿控制策略,总结得出了基于模型的谐波齿轮传动系统设计方法,对如何提高谐波齿轮传动系统伺服性能有了进一步的认识,较好解决了谐波齿轮传动的设计和伺服控制问题,可为谐波齿轮传动系统在高速、高精、轻量化和小型化精密伺服系统中的应用提供技术支持。论文的研究内容主要包含以下几个部分:1.针对谐波齿轮传动系统伺服特性与其结构参数之间的关系问题,通过分析谐波齿轮工作原理、运动学和动力学特性,推导出了常用双波谐波齿轮摩擦、刚度和迟滞三种特性的经典模型参数与其自身主要结构参数的解析关系。针对三种非线性特性的经典模型,采用描述函数方法对其进行线性化,建立了含摩擦、刚度和迟滞的谐波齿轮传动系统线性模型,得到了摩擦、刚度和迟滞对谐波齿轮传动系统伺服性能的影响规律。2.为了准确建立谐波齿轮传动系统的动力学模型,针对谐波齿轮传动系统摩擦、刚度和迟滞三种非线性特性进行了建模。针对系统摩擦特性建模问题,采用Stribeck和Lu Gre两种方法进行建模,并对模型中参数进行辨识,提出了一种可在线应用的Stribeck摩擦模型参数快速辨识方法。针对系统刚度特性建模问题,采用泰勒级数和有限元两种方法进行建模,并辨识了泰勒级数刚度模型的参数,得到了影响谐波齿轮低阶谐振频率的主要结构参数和其影响规律。针对系统迟滞特性建模问题,采用Maxwell和Preisach两种方法进行建模,并对模型中参数进行了辨识,研究了Preisach迟滞模型在线仿真离散递归算法,提高了模型仿真计算效率,总结得到了Maxwell和Preisach迟滞模型的选用原则。将以上三种非线性特性模型进行集成,得到了谐波齿轮传动系统的仿真模型,该模型可用于研究系统结构-控制特性相互作用机理,进行系统动力学特性分析、控制方法研究和伺服性能预测。3.针对谐波齿轮传动系统的伺服控制问题,研究了系统非线性特性的补偿控制方法。针对系统摩擦和迟滞特性,采用基于模型的摩擦前馈补偿和迟滞逆模型补偿控制方法;针对系统的参数存在变化不确定量问题,采用不基于模型的Backstepping自适应补偿控制方法。利用建立的谐波齿轮传动系统仿真模型对上述方法进行仿真分析,系统伺服控制精度和响应速度相比经典PID控制方法均有明显提高,验证了上述补偿控制方法的有效性,并分析得到了各补偿控制方法的选用原则。4.针对谐波齿轮传动系统的设计问题,应用上述建模和补偿控制研究成果,提出了基于模型的谐波齿轮传动系统设计方法。基于本文建立的系统仿真模型和设计的补偿控制方法,根据某型精密指向稳定平台俯仰伺服驱动机构应用实例,提出了基于模型的系统设计流程。依照该设计流程,得到了俯仰伺服驱动机构的具体设计方案,并对方案伺服性能进行了仿真预测。根据设计方案制造了原理样机,并对其进行了性能测试,测试结果满足设计指标要求。该方法提高了系统的设计效率、降低了设计成本。5.针对谐波齿轮传动系统的非线性特性、低阶谐振频率、开环特性和闭环特性测量问题,研究了谐波齿轮传动系统性能测试方法。设计了系统非线性特性测试实验台,实现了对摩擦、刚度和迟滞等非线性特性的测量。设计了系统系统谐振频率和幅频特性测试实验台,实现了对系统低阶谐振频率和开环幅频特性的测试。研究了闭环系统的最低平滑速率、稳定精度、定位精度以及峰值输出力矩的测试方法,针对精密指向稳定平台俯仰伺服驱动机构这一具体应用进行了测试。以上测试获得了较为准确实验数据,可反映被测系统的真实特性。测试结果验证了本文所研究的建模和控制方法的正确性和有效性。
[Abstract]:With the rapid development of modern science and technology, the electromechanical servo system presents the development trend of miniaturization, light weight, high precision and high dynamic characteristics, harmonic transmission, cycloid transmission and flexible cable transmission. The transmission mode with higher transmission precision and good dynamic characteristics is more and more widely used. The research on the dynamic characteristics and the servo control method of these transmission modes is helpful to the improvement of the servo performance of the electro-mechanical system, and has a certain theoretical and engineering significance. The harmonic gear has the advantages of large output torque, compact structure, small engagement and small transmission precision, and is widely used in the servo system in the fields of aviation, space, robot, weapon system and the like, and has good effect. With the improvement of the demand of the system's servo performance, the higher requirement of the harmonic gear transmission precision is put forward, and the problem of how to improve the servo performance of the system is further studied. In this paper, the modeling problem and the servo compensation problem of the nonlinear dynamic characteristics of the precision harmonic gear transmission system are studied. Based on the working principle, the dynamic characteristic modeling, the model parameter identification method and the nonlinear characteristic compensation control of the precision harmonic gear transmission system, Based on the research of the model simulation method and the system performance prediction, the system simulation model with the nonlinear characteristics of friction, stiffness and hysteresis is established, and the corresponding compensation control strategy is designed for various nonlinear characteristics, and the design method of the harmonic gear transmission system based on the model is summarized. A further understanding of how to improve the servo performance of the harmonic gear transmission system is provided, and the design and servo control problems of the harmonic gear transmission are better solved, and the technical support can be provided for the application of the harmonic gear transmission system in the high-speed, high-precision, light-weight and miniaturized precision servo system. The research content of the paper mainly includes the following parts:1. In ord to solve that problem of the relationship between the servo characteristic and the structure parameter of the harmonic gear drive system, by analyzing the working principle, the kinematics and the dynamic characteristic of the harmonic gear, the friction of the common double-wave harmonic gear is derived. The classical model parameters of three characteristics of stiffness and hysteresis are related to their own main structural parameters. According to the classical model of three nonlinear characteristics, the linear model of the harmonic gear transmission system with friction, stiffness and hysteresis is established by using the description function method, and the influence rule of the friction, rigidity and hysteresis on the servo performance of the harmonic gear transmission system is obtained. In order to establish the dynamic model of the harmonic gear transmission system, the three nonlinear characteristics of the friction, stiffness and hysteresis of the harmonic gear transmission system are modeled. In view of the problem of system friction characteristic modeling, the method of modeling the parameters in the model is carried out by using the two methods of Stribeck and Lu Gre, and a method for quickly identifying the parameters of the Sribbeck friction model which can be applied online is proposed. Aiming at the problem of system stiffness characteristic modeling, the Taylor series and the finite element method are used for modeling, and the parameters of the Taylor series stiffness model are identified, and the main structural parameters and the influence law of the low-order resonance frequency of the harmonic gear are obtained. In view of the problem of system hysteresis characteristic modeling, two methods of Maxwell and Preisach are used for modeling, and the parameters in the model are identified. The on-line simulation discrete recursive algorithm of the Preisach hysteresis model is studied, and the simulation and calculation efficiency of the model is improved. The selection principles of Maxwell and Preisach hysteresis models are summarized. The three non-linear characteristic models are integrated, and the simulation model of the harmonic gear transmission system is obtained. The model can be used to study the system structure-control characteristic interaction mechanism, and carry out the system dynamics characteristic analysis, the control method research and the servo performance prediction. In order to solve the problem of the servo control of the harmonic gear drive system, the compensation control method for nonlinear characteristics of the system is studied. In view of system friction and hysteresis characteristics, a model-based model-based compensation control method for friction-forward compensation and hysteresis inverse model is used, and a model-based Backstepping adaptive compensation control method is used to solve the problem of uncertain quantity of parameters in the system. By using the established harmonic gear transmission system simulation model, the method carries out simulation analysis on the method, the system servo control precision and the response speed are obviously improved compared with the classical PID control method, the effectiveness of the compensation control method is verified, The selection principle of each compensation control method is also analyzed. In view of the design problem of the harmonic gear transmission system, the design method of the harmonic gear transmission system based on the model is put forward based on the research results of the modeling and compensation control. Based on the system simulation model and the compensation control method of the design, the system design flow based on the model is put forward according to the application example of a precise pointing and stabilizing platform pitch servo drive mechanism. According to the design flow, the specific design scheme of the pitch servo drive mechanism is obtained, and the simulation prediction of the scheme servo performance is carried out. The principle prototype is manufactured according to the design scheme, and the performance test is carried out, and the test results meet the design index requirements. The method improves the design efficiency of the system and reduces the design cost. In view of the nonlinear characteristics of the harmonic gear transmission system, the low-order resonance frequency, the open-loop characteristic and the closed-loop characteristic measurement, the performance test method of the harmonic gear transmission system is studied. The system nonlinear characteristic test experiment table is designed, and the measurement of the nonlinear characteristics such as friction, rigidity and hysteresis is realized. The system system resonance frequency and amplitude-frequency characteristic test experiment table are designed, and the low-order resonance frequency and the open-loop amplitude-frequency characteristic of the system are tested. The minimum smoothing rate, the stability precision, the positioning accuracy and the test method of the peak output torque of the closed-loop system are studied, and the specific application of the precision pointing and stabilizing platform pitch servo drive mechanism is tested. The above tests have obtained more accurate experimental data, which can reflect the real characteristics of the system under test. The results of the test verify the correctness and validity of the modeling and control methods studied in this paper.
【学位授予单位】：国防科学技术大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TH132.41
，
本文编号：2484889
[Abstract]:With the rapid development of modern science and technology, the electromechanical servo system presents the development trend of miniaturization, light weight, high precision and high dynamic characteristics, harmonic transmission, cycloid transmission and flexible cable transmission. The transmission mode with higher transmission precision and good dynamic characteristics is more and more widely used. The research on the dynamic characteristics and the servo control method of these transmission modes is helpful to the improvement of the servo performance of the electro-mechanical system, and has a certain theoretical and engineering significance. The harmonic gear has the advantages of large output torque, compact structure, small engagement and small transmission precision, and is widely used in the servo system in the fields of aviation, space, robot, weapon system and the like, and has good effect. With the improvement of the demand of the system's servo performance, the higher requirement of the harmonic gear transmission precision is put forward, and the problem of how to improve the servo performance of the system is further studied. In this paper, the modeling problem and the servo compensation problem of the nonlinear dynamic characteristics of the precision harmonic gear transmission system are studied. Based on the working principle, the dynamic characteristic modeling, the model parameter identification method and the nonlinear characteristic compensation control of the precision harmonic gear transmission system, Based on the research of the model simulation method and the system performance prediction, the system simulation model with the nonlinear characteristics of friction, stiffness and hysteresis is established, and the corresponding compensation control strategy is designed for various nonlinear characteristics, and the design method of the harmonic gear transmission system based on the model is summarized. A further understanding of how to improve the servo performance of the harmonic gear transmission system is provided, and the design and servo control problems of the harmonic gear transmission are better solved, and the technical support can be provided for the application of the harmonic gear transmission system in the high-speed, high-precision, light-weight and miniaturized precision servo system. The research content of the paper mainly includes the following parts:1. In ord to solve that problem of the relationship between the servo characteristic and the structure parameter of the harmonic gear drive system, by analyzing the working principle, the kinematics and the dynamic characteristic of the harmonic gear, the friction of the common double-wave harmonic gear is derived. The classical model parameters of three characteristics of stiffness and hysteresis are related to their own main structural parameters. According to the classical model of three nonlinear characteristics, the linear model of the harmonic gear transmission system with friction, stiffness and hysteresis is established by using the description function method, and the influence rule of the friction, rigidity and hysteresis on the servo performance of the harmonic gear transmission system is obtained. In order to establish the dynamic model of the harmonic gear transmission system, the three nonlinear characteristics of the friction, stiffness and hysteresis of the harmonic gear transmission system are modeled. In view of the problem of system friction characteristic modeling, the method of modeling the parameters in the model is carried out by using the two methods of Stribeck and Lu Gre, and a method for quickly identifying the parameters of the Sribbeck friction model which can be applied online is proposed. Aiming at the problem of system stiffness characteristic modeling, the Taylor series and the finite element method are used for modeling, and the parameters of the Taylor series stiffness model are identified, and the main structural parameters and the influence law of the low-order resonance frequency of the harmonic gear are obtained. In view of the problem of system hysteresis characteristic modeling, two methods of Maxwell and Preisach are used for modeling, and the parameters in the model are identified. The on-line simulation discrete recursive algorithm of the Preisach hysteresis model is studied, and the simulation and calculation efficiency of the model is improved. The selection principles of Maxwell and Preisach hysteresis models are summarized. The three non-linear characteristic models are integrated, and the simulation model of the harmonic gear transmission system is obtained. The model can be used to study the system structure-control characteristic interaction mechanism, and carry out the system dynamics characteristic analysis, the control method research and the servo performance prediction. In order to solve the problem of the servo control of the harmonic gear drive system, the compensation control method for nonlinear characteristics of the system is studied. In view of system friction and hysteresis characteristics, a model-based model-based compensation control method for friction-forward compensation and hysteresis inverse model is used, and a model-based Backstepping adaptive compensation control method is used to solve the problem of uncertain quantity of parameters in the system. By using the established harmonic gear transmission system simulation model, the method carries out simulation analysis on the method, the system servo control precision and the response speed are obviously improved compared with the classical PID control method, the effectiveness of the compensation control method is verified, The selection principle of each compensation control method is also analyzed. In view of the design problem of the harmonic gear transmission system, the design method of the harmonic gear transmission system based on the model is put forward based on the research results of the modeling and compensation control. Based on the system simulation model and the compensation control method of the design, the system design flow based on the model is put forward according to the application example of a precise pointing and stabilizing platform pitch servo drive mechanism. According to the design flow, the specific design scheme of the pitch servo drive mechanism is obtained, and the simulation prediction of the scheme servo performance is carried out. The principle prototype is manufactured according to the design scheme, and the performance test is carried out, and the test results meet the design index requirements. The method improves the design efficiency of the system and reduces the design cost. In view of the nonlinear characteristics of the harmonic gear transmission system, the low-order resonance frequency, the open-loop characteristic and the closed-loop characteristic measurement, the performance test method of the harmonic gear transmission system is studied. The system nonlinear characteristic test experiment table is designed, and the measurement of the nonlinear characteristics such as friction, rigidity and hysteresis is realized. The system system resonance frequency and amplitude-frequency characteristic test experiment table are designed, and the low-order resonance frequency and the open-loop amplitude-frequency characteristic of the system are tested. The minimum smoothing rate, the stability precision, the positioning accuracy and the test method of the peak output torque of the closed-loop system are studied, and the specific application of the precision pointing and stabilizing platform pitch servo drive mechanism is tested. The above tests have obtained more accurate experimental data, which can reflect the real characteristics of the system under test. The results of the test verify the correctness and validity of the modeling and control methods studied in this paper.
【学位授予单位】：国防科学技术大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TH132.41
，
本文编号：2484889
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