姿态调整平台电液伺服系统控制算法研究

发布时间：2018-11-11 12:16

【摘要】：环境试验在航空及航天工程领域具有非常重要的地位,同时随着工业空气动力学的发展,其应用领域已延伸到了交通运输、房屋建筑、风能利用等行业。然而作为环境试验重要组成部分的攻角机构,即环境中模型姿态调整平台,其控制系统性能在很大程度上决定了整个平台运行稳定性、带负载能力及模型运动精度等性能指标。本课题来源于某环境改造项目,首先,针对模型姿态调整平台电液伺服阀控制液压马达系统的相关技术展开研究。在详细分析了平台机械和液压系统原理后,充分考虑影响系统控制精度的各个因素,建立系统各环节传递函数,并结合系统实际参数值确定系统整体数学模型,进行基本的稳定性和系统响应分析。由于电液伺服系统是典型的未知不确定非线性系统[16],因此为加快系统响应速度,提高控制精度,在多种控制算法中考虑到算法可行性与适应性,提出经典PID控制和模糊PID控制两种控制算法,并进行控制器设计与Matlab仿真分析。在进行了系统建模和PID及模糊PID两种智能控制算法仿真分析后,结合模型姿态调整平台的功能需求,分析并对比当下可行的控制方法,确定合适的控制方案,并从硬件设计、软件编程、人机界面等方面进行介绍。最后通过整机性能试验,证明控制算法能够满足平台控制需求,同时验证了控制方案和控制方法的可行性与可操作性。实现了模型在环境中预期的姿态调整目标。试验表明,该姿态调整平台已经实现了环境中模型的多种姿态调整,动作运行稳定、控制效果良好,为该环境的完善和模型环境实验提供了很好的硬件平台。
[Abstract]:Environmental testing plays an important role in the field of aeronautical and aerospace engineering. With the development of industrial aerodynamics, its application field has been extended to transportation, building, wind energy utilization and other industries. However, as an important part of environmental testing, the performance of the control system determines the performance of the platform, such as the stability of the platform, the capability of load and the precision of the model motion, and so on. This topic comes from a project of environmental transformation. Firstly, the related technology of electro-hydraulic servo valve control hydraulic motor system of model attitude adjustment platform is studied. After analyzing the principle of platform machinery and hydraulic system in detail, considering the factors that affect the control precision of the system, the transfer function of each link of the system is established, and the overall mathematical model of the system is determined by combining the actual parameters of the system. Perform basic stability and system response analysis. Because electro-hydraulic servo system is a typical unknown and uncertain nonlinear system [16], in order to speed up the system response speed and improve the control accuracy, the feasibility and adaptability of the algorithm are considered in various control algorithms. Two control algorithms, classical PID control and fuzzy PID control, are proposed, and the controller design and Matlab simulation analysis are carried out. After system modeling and simulation analysis of two intelligent control algorithms, PID and fuzzy PID, combined with the functional requirements of the model attitude adjustment platform, this paper analyzes and compares the current feasible control methods, determines the appropriate control scheme, and designs the hardware. Software programming, man-machine interface and other aspects are introduced. Finally, through the performance test of the whole machine, it is proved that the control algorithm can meet the platform control requirements, and the feasibility and maneuverability of the control scheme and control method are verified at the same time. The expected attitude adjustment target of the model in the environment is realized. The experimental results show that the platform has realized many kinds of attitude adjustment of the model in the environment, the movement is stable and the control effect is good, which provides a good hardware platform for the improvement of the environment and the experiment of the model environment.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP273;TH137

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