二次平台运动控制系统设计与实现

发布时间：2018-05-01 22:56

本文选题：气浮台 + 水平随动　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：随着技术的不断发展,航天器空间交会对接全物理仿真实验所需要的实验场地、作用范围在不断的扩大。而利用拼接技术构建的大理石基台难以满足气浮设备在过缝时对运行平稳性的要求。二次平台作为基台和气浮设备之间的隔离装置,能够对基台的缝隙起到隔离与缓冲作用,从而降低对基台的实现要求。二次平台本身由多个子系统构成,本论文主要是完成其中的水平随动子系统和动态调平子系统的设计与实现。水平随动子系统的核心功能是实现其所承运行负载同基台的隔离,并通过对所承运行负载的实时跟踪,为运行负载提供一个动态无缝隙的运行平面。动态调平子系统的核心功能是实时调整二次平台上台面的姿态,消除平台水平运行过程中产生的台体倾斜,从而保证水平随动子系统所提供的动态无缝隙运行平面的整体平整度。论文中首先介绍了系统的整体组成,并利用数理分析以及模型辨识获取各子系统的数学模型。之后,采用分数阶PID控制器对水平随动子系统进行仿真设计,并依据仿真结果总结控制器各参数对系统性能的影响,以供后续调试之用;采用复合控制对动态调平子系统的电动控制部分进行仿真设计,保证系统稳定性不变的情况下改善响应速度;采用神经网络PID控制器对动态调平子系统的气动控制部分进行仿真设计,利用神经网络PID在线自学习特性,增强系统的适应能力。最后,设计子系统间的通信协议并实现控制算法和上位机软件。通过系统调试验证了性能指标。
[Abstract]:With the development of technology, the experimental field needed for the whole physical simulation experiment of spacecraft rendezvous and docking is expanding. However, the marble base platform constructed by splicing technology can not meet the requirement of smooth operation of air floatation equipment. As the isolation device between the base platform and the air floatation equipment, the secondary platform can insulate and buffer the gap between the base platform and the air floatation equipment, thus reducing the requirement for the realization of the base platform. The secondary platform itself is composed of several subsystems. This paper mainly completes the design and implementation of the horizontal servo subsystem and the dynamic leveling subsystem. The core function of the horizontal servo subsystem is to isolate the running load from the base platform, and to provide a dynamic and seamless running plane for the running load by tracking the load in real time. The core function of the dynamic leveling subsystem is to adjust the posture of the platform on the secondary platform in real time and eliminate the tilt of the platform during the horizontal operation of the platform. Thus, the overall smoothness of the dynamic seamless operation plane provided by the horizontal servo subsystem is guaranteed. In this paper, the overall composition of the system is introduced, and the mathematical models of each subsystem are obtained by mathematical analysis and model identification. After that, a fractional order PID controller is used to simulate and design the horizontal servo subsystem, and according to the simulation results, the influence of controller parameters on the system performance is summarized for subsequent debugging. The electric control part of the dynamic leveling subsystem is simulated and designed by using compound control to ensure the stability of the system and improve the response speed. The pneumatic control part of the dynamic leveling subsystem is simulated and designed by using the neural network PID controller, and the adaptive ability of the system is enhanced by using the on-line self-learning characteristic of the neural network PID. Finally, the communication protocol between subsystems is designed and the control algorithm and PC software are implemented. The performance index is verified by system debugging.
【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

【参考文献】