电动加载模拟器控制系统研究

发布时间：2018-03-23 20:11

本文选题：电动加载模拟器　切入点：多余力矩　出处：《中国民航大学》2015年硕士论文

【摘要】：电动加载模拟器是重要的半实物仿真设备,它可以模拟飞行器舵机所承受的空气动力矩,对测试不同型号舵机的性能具有重要的意义。随着现代科学技术的发展,对飞行器舵机的控制性能和精度提出了更高的要求,因此对电动加载模拟器的控制性能和加载精度的要求也越来越高。针对电动加载模拟器的控制系统,本文主要进行了以下研究:1)以TMS320F2812DSP为控制核心设计了电动加载模拟器的硬件仿真平台,基于C语言编写了DSP各功能模块的应用程序;基于VC++6.0设计了上下位机的通信软件和人机交互软件。2)根据设计的电动加载模拟器硬件仿真平台,建立了模拟器的数学模型,在考虑了电动加载模拟器参数不确定性和非线性环节影响基础上,指出常规的固定参数的控制器无法满足高精度控制要求。3)在数学模型的基础上,对系统加载通道的性能和系统存在的多余力矩进行了仿真分析,提出了基于极点配置自校正和前馈补偿方法相结合的复合控制策略,实现系统的实时在线控制。仿真结果表明,此复合控制方法对改善系统控制性能、克服参数时变以及抑制多余力矩方面具有良好的效果。4)为进一步提高系统的控制性能和抑制多余力矩,将系统的不确定性、多余力矩以及非线性干扰统一看作系统的外部干扰,在自动估测外部干扰上下界前提下,提出了一种模糊趋近律的滑模变结构的控制策略。为了抑制滑模变结构带来的高频抖振,模糊趋近率综合考虑系统趋近的距离和速度基础上,动态调整系统趋近的速度,实现滑模变结构控制的粗细调节。仿真结果表明,基于改进模糊趋近律方法的滑模自适应控制对参数摄动和外干扰具有强鲁棒性和自适应方法的特性,能够有效消除系统的不确定性、非线性特性和多余力矩对控制系统的影响,提高系统的控制性能。
[Abstract]:The electric loading simulator is an important hardware-in-the-loop simulation equipment. It can simulate the aerodynamic moment of the aircraft steering gear, and it is of great significance to test the performance of different types of steering gear. With the development of modern science and technology, Higher requirements for the control performance and accuracy of the aircraft steering gear are put forward, so the requirements for the control performance and loading accuracy of the electric loading simulator are becoming higher and higher. In this paper, the following research is carried out: (1) the hardware simulation platform of the electric loading simulator is designed with TMS320F2812DSP as the control core, and the application program of each function module of DSP is compiled based on C language. Based on VC 6.0, the communication software of upper and lower computer and man-machine interaction software. 2) based on the hardware simulation platform of electric loading simulator, the mathematical model of simulator is established. On the basis of considering the uncertainty of parameters and the influence of nonlinear link in the electric loading simulator, it is pointed out that the conventional controller with fixed parameters can not meet the requirement of high precision control. 3) on the basis of mathematical model, The performance of the system loading channel and the excess torque of the system are simulated and analyzed. A composite control strategy based on pole assignment self-tuning and feedforward compensation is proposed to realize the real-time on-line control of the system. This compound control method has a good effect on improving the control performance of the system, overcoming the time-varying parameters and suppressing the excess torque. 4) in order to further improve the control performance of the system and suppress the excess torque, the uncertainty of the system is brought forward. The superfluous moment and nonlinear disturbance are regarded as the external disturbances of the system, and the upper and lower bounds of the external disturbances are automatically estimated. A sliding mode variable structure control strategy with fuzzy approach law is proposed. In order to suppress the high frequency buffeting caused by the sliding mode variable structure, the fuzzy approach rate considers the distance and velocity of the system approach, and dynamically adjusts the speed of the system approach. The simulation results show that the sliding mode adaptive control based on the improved fuzzy approach law is robust and adaptive to parameter perturbation and external disturbance. It can effectively eliminate the uncertainty of the system, the influence of nonlinear characteristics and excess torque on the control system, and improve the control performance of the system.
【学位授予单位】：中国民航大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V216.8

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