带有传动挠性的力系统控制研究

发布时间：2018-04-11 03:37

本文选题：恒拉力控制 + 回路成型　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：空间技术的研究是一项复杂的工程,不仅是一个国家综合实力的展现,也具有很高的经济与科学价值。随着我国在航天领域的逐步发展,尤其是在深空探测,空间站在轨服务等领域的进步,对于我国自主研制的空间结构的需求也变得非常迫切。在进行空间结构的研究过程中,为空间机构的地面测试搭建空间环境模拟平台是很重要的一个组成部分。空间机构低重力模拟平台就是为我国空间机构的研究提供模拟太空中低重力环境的设备。恒拉力系统是低重力模拟平台的主要部分,主要通过反馈控制技术为空间结构的实验提供恒定的拉力以抵消机构自身的重力,实现空间结构在地面上的运动模拟。本文首先介绍了现有的悬吊法低重力模拟设备并分析了它们的运行特点。针对现有的“内外环控制策略”,提出了输出力矩进行恒拉力控制的方法,并针对实验室现有的恒拉力系统模型进行机理建模,并进行线性化得到恒拉力系统的线性化模型。针对建立的恒拉力系统模型中的挠性环节,本文摒弃了常规的基于乘性不确定性的鲁棒控制器设计方法,而采用了基于互质因式分解的H?回路成型设计方法对恒拉力系统进行控制器的设计,并讨论了在对象参数变化引起系统挠性摄动的情况下,所设计的控制器的鲁棒性。然后针对钢丝绳的挠性,讨论了钢丝绳横向谐振与纵向谐振对于系统的影响。针对使用电机输出力矩进行恒拉力控制方法所带来的摩擦问题,本文研究了对摩擦行为进行数学描述的摩擦模型,并选用lugre摩擦模型设计基于摩擦观测器的前馈摩擦补偿,在所设计的控制器的基础上,对系统进行仿真。针对实际的恒拉力系统,探讨了传感器噪声对于摩擦补偿效果的影响。最后,基于实际的工程项目背景,对恒拉力系统的实现进行了分析,并设计了恒拉力系统的软件结构以及一些故障状态的处理方法,给出了恒拉力系统的调试实验结果。
[Abstract]:The research of space technology is a complex project, which is not only the display of a country's comprehensive strength, but also of high economic and scientific value.With the development of spaceflight in our country, especially in the fields of deep space exploration and space station in orbit, the demand of space structure developed by our country is very urgent.In the research of space structure, it is an important part to build a space environment simulation platform for the ground test of space mechanism.The low gravity simulation platform of space mechanism is the equipment to simulate the low gravity environment in space for the research of space mechanism in China.The constant tension system is the main part of the low gravity simulation platform. The feedback control technology provides constant tension for the experiment of the space structure to counteract the gravity of the mechanism itself and realize the motion simulation of the space structure on the ground.In this paper, the existing suspension low gravity simulation equipment is introduced and their operation characteristics are analyzed.Aiming at the existing "internal and external loop control strategy", a method of constant tension control of output torque is proposed, and the mechanism model of the existing model of constant tension system in laboratory is modeled, and the linearization model of constant tension system is obtained by linearization.Aiming at the flexible link in the established model of constant tension system, this paper abandons the conventional robust controller design method based on multiplicative uncertainty, and adopts the H?The loop forming design method is used to design the controller of the constant tension system and the robustness of the controller is discussed in the case of the flexible perturbation caused by the change of the object parameters.Then the influence of transverse resonance and longitudinal resonance of wire rope on the system is discussed.Aiming at the friction problem caused by the method of constant tension force control using motor output torque, the friction model of mathematical description of friction behavior is studied in this paper, and the lugre friction model is selected to design feedforward friction compensation based on friction observer.Based on the designed controller, the system is simulated.The effect of sensor noise on friction compensation is discussed for the actual constant tension system.Finally, based on the actual project background, the realization of the constant tension system is analyzed, and the software structure of the constant tension system and some methods to deal with the fault state are designed, and the debugging results of the constant tension system are given.
【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】：2017
【分类号】：V416.8;TP273

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