自动对接连接器液压伺服控制系统研究

发布时间：2018-06-26 19:44

本文选题：自动对接连接器 + 液压伺服系统　；参考：《南京理工大学》2016年硕士论文

【摘要】：某型运载火箭自动对接脐带连接器采用液压伺服系统控制。在对接过程中,存在箭体摆动和液压缸承受较大的不确定负载力的问题,为了提高控制的精度以及对接的可靠性,满足快速发射的发展要求,有必要对自动对接连接器液压伺服控制研究,使连接器能够很好地完成对接任务。对研究的液压伺服系统设计了液压回路,确定各液压元器件的分布。针对负载问题建立液压伺服系统状态空间形式的数学模型。对液压缸驱动机构3-PSS机构进行运动学、动力学计算与仿真分析。考虑大负载对机构运动的影响,使用ABAQUS将关键部件连杆柔性化,使用ADAMS刚柔耦合分析。简化液压数学模型,对于液压系统不确定参数使用MATLAB系统辨识工具箱进行参数辨识,用于控制算法的参考参数。设计扩张状态观测器用以观测系统所受不确定负载扰动,并使用反步鲁棒法进行补偿。在MATLAB/Simulink中进行单缸仿真分析,验证算法的控制效果,最后使用ADAMS-MATLAB联合仿真的方法验证液压伺服系统驱动3-PSS机构的控制效果。由仿真结果可以看出,使用扩张状态负载扰动观测器的反步鲁棒法具有很好的负载补偿效果和跟踪随动性能,液压系统有较高的控制精度。
[Abstract]:The automatic docking cord connector of a certain launch vehicle is controlled by hydraulic servo system. In the process of docking, there are the problems of arrow swinging and hydraulic cylinder bearing large uncertain load force. In order to improve the control accuracy and the reliability of docking, meet the requirements of rapid launch development. It is necessary to study the hydraulic servo control of the automatic docking connector so that the connector can finish the docking task well. The hydraulic circuit is designed to determine the distribution of hydraulic components. A mathematical model of state space for hydraulic servo system is established for load problem. The kinematics, dynamics calculation and simulation analysis of 3-PSS mechanism are carried out. Considering the influence of large load on mechanism motion, the key components are flexible by Abaqus and analyzed by Adams rigid-flexible coupling. The mathematical model of hydraulic system is simplified, and the parameters of uncertain parameters of hydraulic system are identified by MATLAB system identification toolbox, which is used to control the reference parameters of the algorithm. An extended state observer is designed to observe the uncertain load disturbance of the system, and the backstepping robust method is used to compensate the disturbance. The single-cylinder simulation analysis in MATLAB / Simulink is carried out to verify the control effect of the algorithm. Finally, the control effect of the 3-PSS mechanism driven by hydraulic servo system is verified by the combined simulation method of ADAMS-MATLAB. The simulation results show that the backstepping robust method using the extended state load disturbance observer has good load compensation and tracking performance, and the hydraulic system has high control precision.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V475.1;V554

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