基于Labview的电动伺服加载系统研究与设计

发布时间：2018-09-02 07:28

【摘要】：伺服加载系统是一种重要的半实物仿真设备,它为研究伺服系统的控制性能提供精确可靠的实验数据,同时能够节约研发经费和缩短研发周期。20多年来,伺服加载技术的研究一直是军事、国防和航空航天等工业领域中的重要课题。本文结合某伺服系统加载测试设备研制的实际项目,对电动伺服加载系统进行了详细的理论研究并完成系统的硬件设计和软件设计。首先,建立了电动伺服加载系统的数学模型,分析了多余力矩产生的根本原因。在基于结构不变性原理的基础上设计了相应的前馈补偿控制器以削弱系统产生的多余力矩。其次,针对传统PID控制器存在的不足,鉴于BP神经网络具有非线性、并行分布处理、算法实现容易、自学习和自适应等优点,将BP神经网络智能算法引入加载系统并设计了 BP+PID复合控制器。该复合控制器结合了传统PID控制与BP神经网络的优点,经仿真证明,该控制器相比于常规PID控制器能大幅度提高加载精度。然后,分析了加载系统的硬件结构,从系统的性能指标要求出发介绍了系统控制模块、采集模块、检测模块、通信模块以及执行机构的选型依据,并在此基础上采用虚拟仪器技术完成了电动加载系统的硬件设计。最后,在所设计的硬件架构基础上,利用Labview编写相对应的软件,完成了软件各功能模块的设计。通过对实际系统进行的一系列的调试,验证了所设计的电动加载系统的可行性。
[Abstract]:Servo loading system is an important hardware-in-the-loop simulation equipment. It provides accurate and reliable experimental data for studying the control performance of servo system, and can save R & D expenses and shorten R & D cycle for more than 20 years. Servo loading technology has been an important subject in military, national defense and aerospace industries. Combining with the actual project of a servo system load test equipment, this paper makes a detailed theoretical study on the electric servo loading system and completes the hardware and software design of the system. Firstly, the mathematical model of electric servo loading system is established, and the root cause of excess torque is analyzed. Based on the principle of structural invariance, the corresponding feedforward compensation controller is designed to reduce the excess torque generated by the system. Secondly, in view of the disadvantages of traditional PID controller, considering the advantages of BP neural network, such as nonlinear, parallel distributed processing, easy implementation of algorithm, self-learning and adaptive, etc. The intelligent algorithm of BP neural network is introduced into the loading system and the BP PID compound controller is designed. The composite controller combines the advantages of traditional PID control and BP neural network. The simulation results show that the controller can greatly improve the loading accuracy compared with the conventional PID controller. Then, the hardware structure of the loading system is analyzed, and the system control module, the acquisition module, the detection module, the communication module and the type selection basis of the executive mechanism are introduced according to the performance requirements of the system. On this basis, the hardware design of electric loading system is completed by using virtual instrument technology. Finally, on the basis of the designed hardware architecture, the corresponding software is written by using Labview, and the design of each function module of the software is completed. Through a series of debugging to the actual system, the feasibility of the designed electric loading system is verified.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM921.541

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