复合台精密离心机控制方法研究与实现

发布时间：2017-12-31 07:43

本文关键词：复合台精密离心机控制方法研究与实现　出处：《哈尔滨工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：航空航天器常常需要在同时存在振动和线加速度的复合动态环境中工作,导航系统需要进行在这种复杂动态环境下的模拟实验,采用精密离心机和电磁振动台实现模拟实验环境,可以发现在单独环境实验中不便测量的某些特性,有利于提高飞行器导航系统等设备的性能指标和使用可靠性。可以提高对复杂动态环境的认识,标定惯性元件的技术指标,建立精确的误差系数。很大程度的增加飞行器导航系统可靠性,提升在地面模拟空天飞行过程的研究手段和对“天地一致性”的认知水平。本文以建立理想的地面模拟过载与振动复合实验环境为背景,对复合平台的离心机控制方法与实现问题展开了研究。课题从精密离心机系统运行时存在的波动力矩入手分析,通过研究精密离心机整体结构,解释了系统存在的不平衡形式,并总结归纳出系统高速转动中存在动不平衡引起的振动,为系统波动力矩的原因之一。设计了动平衡实现的方案,理论分析与计算了方案实施的可行性。设计了不平衡量的测试系统,包括测量面的选择,测试系统硬件设计与软件编程。阐述了旋转轴不圆度对不平衡测试的影响,并测试了转轴测试面处不圆度,给出了精确的数据。第二,分析了无刷直流电机的力矩波动问题,确定了电磁波动力矩与电机极对数和系统转速之间的关系。总结为系统的波动力矩为与系统转速相关的周期性信号。针对周期的干扰力矩,引出了重复控制理论应用的必要性,介绍了重复控制系统的结构,分析了其性能指标,给出重复控制器设计方法。对复合台精密离心机建模仿真,设计经典控制器的基础上,加入设计的重复控制器,分别在连续域与离散域仿真得到其对周期干扰信号的抑制效果。针对离散内模延时不能延时小数周期的问题,提出一种基于线性插值法的数字低通滤波器的重复控制器,并仿真验证了其控制效果。对复合台离心机系统的控制与实现中关键问题进行了设计与研究工作,包括DSP与FPGA组成的嵌入式数字控制器设计与硬件调试、软件编写工作,D/A转换电路板调试工作,光栅测角系统的电路设计与调试。对DSP控制器编程,上位机人机交互界面编程,实现了精密离心机的闭环控制,并经过调试达到了一定的性能指标要求。为实现后续振动台与离心机复合结构整体运行奠定了工程基础。
[Abstract]:Aerospace vehicles often need to work in a complex dynamic environment where both vibration and linear acceleration exist, and navigation systems need to carry out simulation experiments in this complex dynamic environment. Using precision centrifuge and electromagnetic vibration table to realize the simulation experimental environment, we can find some characteristics which are not easy to measure in the separate environmental experiment. It is helpful to improve the performance and reliability of the aircraft navigation system, to improve the understanding of the complex dynamic environment, and to calibrate the technical index of inertial components. Establish accurate error coefficient. Greatly increase the reliability of aircraft navigation system. In order to improve the research methods and cognitive level of "heaven and earth consistency" on the ground simulation, the background of this paper is to establish an ideal experimental environment of ground simulation overload and vibration. The control method and realization of the complex platform centrifuge are studied. The subject starts with the analysis of the fluctuating moment of the precision centrifuge system, through the research of the whole structure of the precision centrifuge. This paper explains the unbalanced form of the system, and sums up the vibration caused by the dynamic unbalance in the high speed rotation of the system, which is one of the reasons of the system fluctuation moment. The scheme of realizing the dynamic balance is designed. Theoretical analysis and calculation of the feasibility of the implementation of the scheme, the design of an unbalanced measurement system, including the selection of measurement surface. The hardware design and software programming of the test system are introduced. The influence of the rotation axis unroundness on the unbalanced test is expounded, and the unroundness at the test plane of the rotary shaft is tested, and the accurate data are given. The torque fluctuation of brushless DC motor is analyzed. The relationship between the electromagnetic wave dynamic moment and the pole logarithm of the motor and the rotational speed of the system is determined. It is concluded that the wave moment of the system is a periodic signal related to the rotational speed of the system. The necessity of application of repetitive control theory is introduced, the structure of repetitive control system is introduced, its performance index is analyzed, and the design method of repetitive controller is given. Based on the design of classical controller, the repetitive controller is added. The simulation results in continuous domain and discrete domain are used to suppress periodic interference signals, and to solve the problem that discrete internal model delay can not delay fractional period. A repetitive controller of digital low-pass filter based on linear interpolation method is proposed, and its control effect is verified by simulation. The key problems in the control and implementation of composite centrifuge system are designed and studied. Including the design and hardware debugging of embedded digital controller composed of DSP and FPGA, and the debugging of DPA conversion circuit board. The circuit design and debugging of the grating angle measuring system. The DSP controller is programmed and the man-machine interface of the upper computer is programmed to realize the closed-loop control of the precision centrifuge. After debugging, the requirements of certain performance indexes are achieved, which lays the engineering foundation for the integrated operation of the compound structure of the subsequent shaking table and centrifuge.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V216.8

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