大负载三自由度摇摆台控制系统设计

发布时间：2018-12-16 14:12

【摘要】：摇摆试验台在国防测试领域起着重要的关键的作用。三自由度摇摆台是模拟船舶横摇、纵摇和垂荡运动的实验测试设备,它为导航设备的研制提供运动模拟和精度测试提供条件,所以开发和研制高性能的摇摆台设备具有重要意义。本文针对重型摇摆台对大负载、大冲击及工作在复杂工况下,研发出高精度、高可靠性的一重型摇摆试验台。首先,根据参数指标对大负载三自由度摇摆台系统台体结构进行设计分析。摇摆台主体结构为双层框型结构,外框底部通过中央铰支座与地基固联,十字轴承的横轴、纵轴为摇摆台横摇轴和纵摇轴,内框与外框之间相对运动就实现了内框相对外框垂荡。对台体的各种极限位姿进行运动学分析和仿真,使摇摆台各种性能指标都能够达到设计要求。其次,针对摇摆台驱动系统液压伺服系统进行数学模型建立。对建立的数学模型根据系统实际运用的各元件参数对系统进行数值化,对数值化后的模型分别进行动态性能和稳态性能分析,根据分析发现参数化的模型在动态性能上不能达到系统性能指标的要求,需要对系统进行校正。可首先采用工程师们常用的PID控制器对系统进行校正,在一定条件下系统能够达到性能指标。考虑到模型对象很多物理参数随着系统工作在复杂的工作环境中其参数会随着时间的变化而发生变化,加上在系统数学模型建立时针对很多非线性问题大多采用近似或者忽略的做法,所以液压伺服系统是一个时变的不确定性系统。最后,针对液压伺服系统的模型不确定,本文应用鲁棒控制中混合灵敏度优化方法对系统进行控制器设计。通过选取适当的加权函数,运用Matlab中鲁棒控制工具箱求取H∞控制器,针对摇摆台在保留余量的基础上还要受到巨大冲击力进行了仿真。从理论分析和仿真实验结果表明摇摆台系统具有良好的动态性能和鲁棒性能。
[Abstract]:The swing test bench plays an important role in the field of national defense testing. The three-degree-of-freedom swinging platform is an experimental test equipment for simulating ship rolling, pitching and swaying motion. It provides the conditions for the development of navigation equipment, such as motion simulation and precision testing. Therefore, it is of great significance to develop and develop high-performance swing platform equipment. In this paper, a high-precision and high-reliability heavy-duty rocking test-bed is developed for heavy rocking table under heavy load, large impact and working condition. Firstly, according to the parameter index, the platform structure of three degrees of freedom swing table system with large load is designed and analyzed. The main structure of the rocking table is a double frame structure, the bottom of the outer frame is fixed to the foundation through the central hinge support, the horizontal axis of the cross bearing, the longitudinal axis is the rolling shaft and the pitch shaft of the rocking table, The relative motion between the inner frame and the outer frame makes the inner frame swing relative to the outer frame. The kinematics analysis and simulation of all kinds of limit position and pose of the platform make all kinds of performance indexes of the swing platform meet the design requirements. Secondly, the mathematical model of hydraulic servo system is established. The established mathematical model is numerically applied to the system according to the parameters of each component used in the system, and the dynamic and steady performance of the numerical model are analyzed respectively. According to the analysis, it is found that the parameterized model can not meet the requirements of the system performance index in dynamic performance, so it is necessary to correct the system. The PID controller commonly used by engineers can be used to correct the system, and the system can achieve the performance index under certain conditions. Considering that many of the physical parameters of the model object change over time as the system works in a complex working environment, In addition, the hydraulic servo system is a time-varying uncertain system because of the approximate or neglected approach to many nonlinear problems when the mathematical model of the system is established. Finally, in view of the uncertain model of hydraulic servo system, this paper applies the hybrid sensitivity optimization method in robust control to design the controller of the system. By selecting appropriate weighting function and using robust control toolbox in Matlab to obtain H 鈭，

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