大惯量交流伺服系统自抗扰控制方法研究

发布时间：2018-06-21 11:32

本文选题：交流伺服 + 大惯量负载　；参考：《中国科学院长春光学精密机械与物理研究所》2016年硕士论文

【摘要】：本文以大型随动圆顶控制系统设计及研制为背景,围绕自抗扰控制方法在大惯量交流伺服系统中的应用,针对伺服系统易受非线性摩擦影响和提高系统动态性能等方面问题展开研究工作。首先,建立了圆顶随动系统的数学模型,包括对伺服系统建模和摩擦扰动环节建模。介绍了伺服系统中非线性摩擦环节的特性,并通过仿真实验,分析了伺服系统受摩擦影响,跟踪正弦信号时波形发生扭曲,出现平顶现象的原因。然后,研究了自抗扰控制器的原理和结构,着重分析了跟踪微分器在安排过渡过程和扩张状态观测器在提取对象总扰动的实时作用量方面的应用。并针对大型随动圆顶系统具有大转动惯量且存在非线性摩擦的特点,设计了圆顶随动系统控制器。通过仿真分析表明自抗扰控制器能够抑制摩擦等非线性环节对系统的影响,并解决了系统超调与快速性之间的矛盾,提高了系统的动态性能。最后,将自抗扰控制方法应用到某型号经纬仪随动圆顶控制系统中,设计硬件构成及软件实现。实验表明,采用自抗扰控制方法跟踪正弦信号时,系统最大跟踪误差由传统PD控制的3.4o减小到1.1o,并且能够实现系统在无超调情况下的快速响应。本论文的研究工作证明了,自抗扰控制方法应用到圆顶随动系统中的可行性及有效性,并为这类大惯量交流伺服系统的设计提供了新的思路。
[Abstract]:In this paper, based on the design and development of large servo dome control system, the application of ADRC in large inertia AC servo system is discussed. This paper focuses on the problems of servo system being easily affected by nonlinear friction and improving the dynamic performance of the system. Firstly, the mathematical model of dome servo system is established, including servo system modeling and friction disturbance modeling. This paper introduces the characteristics of nonlinear friction in servo system, and analyzes the causes of wave distortion and flat-top phenomenon when the servo system is affected by friction and tracks sinusoidal signals. Then, the principle and structure of the ADRC are studied, and the application of the tracking differentiator in arranging the transition process and the extended state observer in extracting the real-time action of the total disturbance of the object is analyzed. Aiming at the characteristics of large inertia and nonlinear friction, the controller of dome servo system is designed. The simulation results show that the ADRC can restrain the influence of nonlinear links such as friction on the system, and solve the contradiction between overshoot and rapidity of the system, and improve the dynamic performance of the system. Finally, the automatic disturbance rejection control method is applied to a certain type of theodolite servo dome control system, and the hardware structure and software realization are designed. The experimental results show that the maximum tracking error of the system is reduced from 3.4 o to 1.1 o by using the ADRC method to track sinusoidal signals, and the fast response of the system without overshoot can be achieved. The research work in this paper proves the feasibility and effectiveness of applying the ADRC method to the dome servo system, and provides a new idea for the design of this kind of large inertia AC servo system.
【学位授予单位】：中国科学院长春光学精密机械与物理研究所
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273

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