双轴精密离心机同步控制策略与实现研究

发布时间：2018-06-11 19:49

本文选题：双轴精密离心机 + 时变周期干扰　；参考：《哈尔滨工业大学》2015年硕士论文

【摘要】：本文以双轴精密离心机为研究背景,研究了其同步控制策略及实现问题。针对双轴精密离心机主副轴不同的模型,对双轴精密离心机的控制特点进行了分析,并基于此分别研究基于位置域重复控制的时变周期干扰抑制方法和针对提高主副轴同步精度的同步控制方法,并通过仿真与实验进行了验证。本文的主要工作及创新点体现在如下几个方面:首先,针对本文研究对象双轴精密离心机,分析了被控对象的机理模型并进行了实验建模。分析了双轴精密离心机副轴干扰特性和主副轴同步控制特性。其次,简单介绍了重复控制方法,通过对比不同重复控制器特点,选择了采用新型有限维重复控制器。针对副轴干扰特性,提出了位置域有限维内模重复控制器及其实现方法,并通过仿真验证了其有效性。然后,针对主副轴同步控制问题分析了经典的同步控制方法的优缺点,基于此提出了混合同步控制方法。对这些同步控制方法进行了仿真分析,通过对比分析出了混合同步控制方法的优势及缺点。最后,对位置域有限维内模重复控制方法进行了实验研究,进一步验证了其有效性。对并联同步控制方法和串联同步控制方法进行了实验研究,验证了串联同步控制方法的实用性。
[Abstract]:In this paper, the synchronous control strategy and its realization of two-axis precision centrifuge are studied. According to the different models of the main and auxiliary axes of the two-axis precision centrifuge, the control characteristics of the two-axis precision centrifuge are analyzed. Based on this, the time-varying periodic interference suppression method based on position domain repetitive control and the synchronization control method aiming at improving the synchronization accuracy of main and auxiliary axes are studied, and verified by simulation and experiment. The main work and innovation of this paper are as follows: firstly, the mechanism model of the controlled object is analyzed and the experimental model is built for the research object of this paper. The interference characteristics of two-axis precision centrifuges and the synchronous control characteristics of main and secondary axes are analyzed. Secondly, the repetitive control method is briefly introduced. By comparing the characteristics of different repetitive controllers, a new finite dimensional repetitive controller is selected. The finite dimensional internal model repetitive controller in position domain and its implementation method are proposed in view of the interference characteristics of the auxiliary axis, and the effectiveness of the controller is verified by simulation. Then, the advantages and disadvantages of the classical synchronous control methods are analyzed, and a hybrid synchronous control method is proposed. These synchronous control methods are simulated and analyzed, and the advantages and disadvantages of the hybrid synchronous control methods are compared and analyzed. Finally, the finite dimensional internal model repetitive control in position domain is experimentally studied, and its effectiveness is further verified. The parallel synchronous control method and the series synchronous control method are studied experimentally, and the practicability of the series synchronous control method is verified.
【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】：TQ051.8;TP273

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