双级伺服系统控制算法及仿真研究

发布时间：2018-05-08 18:40

本文选题：双通道 + 直驱电机　；参考：《南京理工大学》2017年硕士论文

【摘要】：伺服系统作为一种能够跟随外界给定输入信号实时变化的控制系统,被广泛应用于各个领域。随着对伺服系统控制精度,响应速度以及鲁棒性要求的不断提高,传统的单级伺服系统难以满足要求。针对高精度激光定位平台,本文设计了区别于传统定位平台的双级伺服系统进行控制。首先,根据激光系统的工作原理以及提出的技术指标,设计了双级伺服系统的总体结构,主要包括粗、精通道驱动结构的设计。其次,在Simulink仿真环境下搭建了基于直驱电机的粗通道平台三环仿真模型,并对三环模型中位置环的控制策略进行详细设计。针对PID控制器在抗扰方面的不足,位置环引入ADRC,通过模拟扰动重点比较了 ADRC和PID控制的抗扰性能。同时对基于压电陶瓷驱动的快反镜结构进行建模分析,在Simulink仿真环境下搭建了精通道模型,采用复合控制,并与传统PID控制进行性能对比。然后,针对控制器参数整定不易,设计了两种参数整定策略,复合参数整定法和融合粒子群参数整定法,并将其分别运用于精通道控制器参数整定,经验证均取得了不错的效果,省去了以往人工试凑法的时间。最后,设计了双级驱动伺服系统的协调控制模块,采用S-函数实现双阈值切换策略,同时针对精通道在补偿粗通道误差时产生的滞后和不平稳现象,将曲线拟合最小二乘法、加权滤波算法和输出线性化模块引入到协调控制模块中,并在Simulink仿真环境下中搭建了双级伺服系统的仿真模型,输入典型信号进行测试,调试结果表明满足了系统所需的快速性和高精度要求。
[Abstract]:Servo system is widely used in many fields as a real-time control system which can follow the given input signal. With the improvement of control precision, response speed and robustness of servo system, the traditional single-stage servo system is difficult to meet the requirements. Aiming at the high precision laser positioning platform, this paper designs a two-stage servo system which is different from the traditional positioning platform. Firstly, according to the working principle of the laser system and the technical specifications proposed, the overall structure of the two-stage servo system is designed, which mainly includes the design of the coarse and fine channel drive structure. Secondly, the three-ring simulation model of coarse channel platform based on direct-drive motor is built in Simulink simulation environment, and the control strategy of position loop in three-ring model is designed in detail. For the deficiency of PID controller in disturbance rejection, the position loop is introduced into ADRC, and the immunity performance of ADRC and PID control is compared by simulating the disturbance. At the same time, the fast mirror structure driven by piezoelectric ceramics is modeled and analyzed. The proficient channel model is built in the Simulink simulation environment, and the composite control is adopted, and the performance is compared with the traditional PID control. Then, two parameter tuning strategies, compound parameter tuning method and fusion particle swarm optimization method, are designed to control the controller parameters. It has been proved that good results have been achieved, and the time of previous artificial trial and error has been saved. Finally, the coordinated control module of the two-stage drive servo system is designed. The S- function is used to realize the double threshold switching strategy. At the same time, the curve fitting least square method is used to solve the hysteresis and unsteady phenomenon caused by the proficient track in compensating the coarse channel error. The weighted filtering algorithm and the output linearization module are introduced into the coordinated control module, and the simulation model of the two-stage servo system is built in the Simulink simulation environment, and the typical signals are input for testing. The debugging results show that the system can meet the requirement of high speed and high 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】：2017
【分类号】：TP273

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