悬吊式低重力模拟系统控制研究
发布时间：2019-06-15 15:58
【摘要】：随着航天地面仿真、验证实验设备的研究越来越多,为了真实模拟空间或星球表面重力环境,需要低重力模拟系统。目前大部分重力环境模拟系统采用悬吊式,通过配重或者弹簧等平衡重力,这种方式一般适用于低速运动物体,对于飞行器星球表面垂直分离情况难以适用。为此本文提出一种主动悬吊式低重力模拟方法,从提高系统响应速度和精度角度出发提出了一系列措施,包括硬件和软件,完成了低重力模拟系统的实验台的搭建并进行验证,从经典控制和现代控制两个方面设计了系统的控制算法。根据要求的性能指标确定了主动悬吊式低重力模拟系统的实现方案,通过增加缓冲弹簧、增大钢丝绳刚度和悬吊长度等来提高响应速度和精度,同时在控制上,利用力矩电机堵转运行方式,采取力控制和速度控制两种方式提高响应速度。设计了系统各个部分的机械结构和测控系统并搭建出了系统的实验台,确定了系统的硬件和软件的控制方案。根据搭建的实验台建立了力矩电机的控制模型和系统的标称模型,分析了机电伺服系统的谐振频率和缓冲机构的谐振频率,为控制器的设计提供了参考。为了对系统进行有效控制,从经典控制理论出发完成了控制算法设计。建立了系统基本控制模型,为输入信号安排了合理的过渡过程,利用Z-N整定PID控制以及系统校正两种方法完成了系统静态平衡过程的建立,同时利用搭建的系统进行了静态和动态平衡误差实验分析,将目标物体的垂直运动等效为系统外界位置扰动,提出了结构不变性前馈补偿和建立扰动观测器两种扰动抑制策略,并进行了仿真验证。为了使系统具有自适应能力,提出了自适应模糊PID控制方法,建立了语言值变量、隶属度函数和模糊规则,得到了适用于系统的模糊控制器。为了解决系统存在的不确定性和外界位置扰动问题,提出使用H∞鲁棒控制通过解析的方法求取控制器。分析了系统存在的不确定性并进行处理,通过小增益定理转化为H∞标准设计问题并根据系统指标特点确定了加权函数,得到了系统增广控制对象并求取了控制器,为了增强控制器的可实现性利用Hankel逼近降阶法对原始控制器进行降阶,利用Simulink进行控制器性能的仿真验证并对降阶前后的控制器进行了对比。
[Abstract]:With the space ground simulation, there are more and more research on verification experimental equipment. In order to simulate the gravity environment on the surface of space or planet, a low gravity simulation system is needed. At present, most gravity environment simulation systems use suspension type, through counterweight or spring and other balanced gravity, this method is generally suitable for low-speed moving objects, and it is difficult to apply to the vertical separation of aircraft planet surface. In this paper, an active suspended low gravity simulation method is proposed, and a series of measures are put forward from the point of view of improving the response speed and accuracy of the system, including hardware and software, the experimental platform of the low gravity simulation system is built and verified, and the control algorithm of the system is designed from two aspects of classical control and modern control. According to the required performance index, the realization scheme of the active suspension low gravity simulation system is determined. The response speed and accuracy are improved by increasing the buffer spring, the stiffness and suspension length of the wire rope. At the same time, in the control, the torque motor is used to block the operation mode, and the force control and speed control are adopted to improve the response speed. The mechanical structure and measurement and control system of each part of the system are designed, and the experimental platform of the system is built, and the control scheme of hardware and software of the system is determined. According to the experimental platform, the control model of torque motor and the nominal model of the system are established, and the resonance frequency of electromechanical servo system and buffer mechanism are analyzed, which provides a reference for the design of the controller. In order to control the system effectively, the control algorithm is designed based on the classical control theory. The basic control model of the system is established, and a reasonable transition process is arranged for the input signal. The static equilibrium process of the system is established by using two methods: Z tuning PID control and system correction. At the same time, the static and dynamic balance error experiments are carried out by using the built system, and the vertical motion of the target object is equivalent to the external position disturbance of the system. Two disturbance suppression strategies, structure invariant feedforward compensation and disturbance observer, are proposed and verified by simulation. In order to make the system have adaptive ability, an adaptive fuzzy PID control method is proposed. Language value variables, membership functions and fuzzy rules are established, and a fuzzy controller suitable for the system is obtained. In order to solve the uncertainty and external position disturbance problem of the system, an analytical method is proposed to obtain the controller by using H 鈭，
本文编号：2500336
[Abstract]:With the space ground simulation, there are more and more research on verification experimental equipment. In order to simulate the gravity environment on the surface of space or planet, a low gravity simulation system is needed. At present, most gravity environment simulation systems use suspension type, through counterweight or spring and other balanced gravity, this method is generally suitable for low-speed moving objects, and it is difficult to apply to the vertical separation of aircraft planet surface. In this paper, an active suspended low gravity simulation method is proposed, and a series of measures are put forward from the point of view of improving the response speed and accuracy of the system, including hardware and software, the experimental platform of the low gravity simulation system is built and verified, and the control algorithm of the system is designed from two aspects of classical control and modern control. According to the required performance index, the realization scheme of the active suspension low gravity simulation system is determined. The response speed and accuracy are improved by increasing the buffer spring, the stiffness and suspension length of the wire rope. At the same time, in the control, the torque motor is used to block the operation mode, and the force control and speed control are adopted to improve the response speed. The mechanical structure and measurement and control system of each part of the system are designed, and the experimental platform of the system is built, and the control scheme of hardware and software of the system is determined. According to the experimental platform, the control model of torque motor and the nominal model of the system are established, and the resonance frequency of electromechanical servo system and buffer mechanism are analyzed, which provides a reference for the design of the controller. In order to control the system effectively, the control algorithm is designed based on the classical control theory. The basic control model of the system is established, and a reasonable transition process is arranged for the input signal. The static equilibrium process of the system is established by using two methods: Z tuning PID control and system correction. At the same time, the static and dynamic balance error experiments are carried out by using the built system, and the vertical motion of the target object is equivalent to the external position disturbance of the system. Two disturbance suppression strategies, structure invariant feedforward compensation and disturbance observer, are proposed and verified by simulation. In order to make the system have adaptive ability, an adaptive fuzzy PID control method is proposed. Language value variables, membership functions and fuzzy rules are established, and a fuzzy controller suitable for the system is obtained. In order to solve the uncertainty and external position disturbance problem of the system, an analytical method is proposed to obtain the controller by using H 鈭，
本文编号：2500336
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