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大摩擦情况下三轴飞行模拟转台QFT鲁棒控制器的设计 总被引:4,自引:0,他引:4
三轴飞行模拟转台是用于飞行控制系统半实物仿真的高性能位置跟踪和速度跟踪的一个重要设备。摩擦力和不确定性是三轴飞行模拟转台伺服系统的主要特性。在基于转台的动态和静态非线性Stribeck摩擦模型描述的基础上 ,考虑转台伺服系统的实际不确定性 ,设计了QFT鲁棒控制器 ,并给出了仿真和实时控制效果。 相似文献
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飞行模拟转台的伺服系统要求阀-马达组合的连续调速比很大(例如1100以上),负载惯量大的(例如30千克·厘米·秒2)模拟转台只能采用电液伺服系统。本文介绍一种电液复合伺服系统,使阀-马达组合的调速比由原来的180提高到1800左右,系统的其它指标也有改善,满足了转台伺服系统的要求。 文章列举了国内用于模拟转台的马达的调速比,分析了柱塞式马达调速比低的原因及改善办法,提出了电液复合伺服系统。文中介绍了电液复合伺服系统的工作原理并进行了理论分析,推导出复合系统方块图及传递函数,对复合系统进行动态分析并与原系统对比。最后给出了一系列实验的典型数据和曲线。 相似文献
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针对转台运动系统中存在的摩擦力环节及其特性提出了一种静态摩擦力模型及其参数辨识方法,该模型克服了库伦摩擦模型的不连续性,并利用该模型对摩擦力在转台伺服系统中的影响,进行了仿真分析及试验对比。结果表明,该摩擦力模型可充分描述摩擦力对转台伺服系统运动性能的影响,为进一步提高系统的运动性能提供了一个研究基础。 相似文献
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孙德志 《航空精密制造技术》1981,(2)
提高电液伺服系统的阻尼有几种方法,如:泄漏短路法、压力反馈法、反谐振电网络抵消法等,此诸法不是需要较多的外加设备,就是效果不够理想。经过多次反复试验和必要的理论分析,实现了速度微分软反馈,提高了电液伺服系统阻尼,系统闭环(速度闭环或位置闭环)后的开环增益比没有采用速度微分软反馈时增加了1.5~2倍,同时提高了系统低速平稳性。本文结合液压单轴飞行模拟转台的调试结果,介绍速度微分软反馈提高电液伺服阀控制液压马达系统阻尼的原理及其具体实现的方法。 相似文献
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唐庚梅 《自动驾驶仪与红外技术》2000,(2):8-9
三轴角运动仿真转台是战术导弹自动驾驶仪设计时使用的一种重要的关键的仿真设备,以前大多数自动驾驶仪半实物仿真是采用框架结构式三轴转台,三个轴是安装在一体,分外框,内框,中框,这种结构的缺点是伺服系统的通频带很难做得高,本文叙述一种捷联结构式三轴角运动仿真轴台,按这种结构设计,伺服系统的通频带很容易提高,系统的造价也可以降低,是值得采用的一种方案。 相似文献
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《航空学报》2017,(12)
为了在传统控制器基础上进一步提高航空光电稳定平台的性能,减轻机械伺服系统中摩擦环节对视轴(LOS)稳定及激光指向带来的负面影响,提出了一种基于自抗扰控制器(ADRC)的高性能摩擦力补偿方案。首先,在原有系统中引入LuGre模型来初步抑制摩擦对伺服系统的扰动;然后,通过设计自抗扰控制器对摩擦补偿后仍然存在的残余扰动进行进一步抑制;最后为了验证本控制策略对系统扰动的抑制效果,将航空光电稳定平台安装在飞行模拟转台进行实验,测试加入基于自抗扰控制器的摩擦补偿方案前后的性能对比。实验结果表明:对比传统的控制方案,在速度稳定实验中,引入摩擦力和自抗扰相结合控制方案的光电平台扰动隔离度至少提高了14dB,在目标跟踪实验中,系统的视轴晃动强度也至少降低了78.9%。该补偿方案易于实现,与光电平台的兼容性好,满足航空光电稳定平台的高精度要求。 相似文献
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基于速度同步控制的电液负载模拟器 总被引:23,自引:1,他引:22
通过理论与试验相结合的方法建立了电液力伺服控制系统的精确非线性数学模型 ,从理论上对采用传统的结构不变性原理来消除多余力的方案进行了分析 ,找出了其效果有一定局限性的机理 ,说明电液力伺服系统的非线性和频率特性对电液负载模拟器的性能有较大的影响 ,进而提出了利用舵机伺服阀的控制信号进行速度同步控制、抑制多余力矩的新方案 ,消除了系统滞后的影响 ,另外 ,由于舵机与加载马达数学模型的相似性 ,对非线性起到了一定的补偿作用。仿真和试验结果证明该方案在系统的动态品质、鲁棒性和消扰能力等方面具有相当好的效果。 相似文献
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Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adap-tive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coeffi-cient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus PID controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems’ nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved. 相似文献
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《IEEE transactions on aerospace and electronic systems》2002,38(3):1011-1022
In this study a particular incremental motion control problem, which is specified by the trapezoidal velocity profile using multisegment sliding mode control (MSSMC), is proposed to control a permanent magnet linear synchronous motor (PMLSM) servo drive system. First, the structure and operating principle of the PMLSM are described in detail. Second, a field-oriented control PMLSM servo drive is introduced. Then, each segment of the multisegment switching surfaces is designed to match the corresponding part of the trapezoidal velocity profile, thus the motor dynamics on the specified-segment switching surface have the desired velocity or acceleration corresponding part of the trapezoidal velocity profile. In addition, the proposed control system is implemented in a PC-based computer control system. Finally, the effectiveness of the proposed PMLSM servo drive system is demonstrated by some simulated and experimental results. 相似文献
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Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability 总被引:1,自引:0,他引:1
Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control (AFTC) algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno (T-S) fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator (ELS), and the comparative experimental results indicate that AFTC controller is effective for PTSS. 相似文献
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The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking performance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by using μ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the resulting system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance. 相似文献
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双框架磁悬浮控制力矩陀螺(MSCMG)框架伺服系统是一个多变量、强耦合、非线性的复杂系统,针对耦合力矩对框架系统速率伺服性能的影响,以及框架系统动力学解耦之后存在残余耦合、卫星运动引起的牵连力矩和非线性摩擦的问题,提出了微分几何法与扩张状态观测器(ESO)相结合的高精度控制方法,在线性化解耦的基础上对残余耦合、牵连力矩及非线性摩擦进行观测补偿以提高框架伺服系统解耦及速率跟踪性能。仿真结果表明、由耦合力矩引起的内、外框架速率波动最大值分别从0.18(°)/s和0.12(°)/s减小到5×10-3(°)/s和4×10-3(°)/s,内、外框架正弦角速度跟踪误差分别从0.18(°)/s和0.19(°)/s减小到0.005(°)/s和0.004(°)/s。所提出的方法实现了框架伺服系统的动力学解耦以及非线性摩擦和牵连力矩的补偿,提高了框架系统的解耦性能和速率伺服精度。 相似文献
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飞行模拟转台高精度数字重复控制器的设计 总被引:3,自引:1,他引:3
从工程的角度讨论了离散重复控制系统的设计,所提出的重复控制方法可保证速度跟踪误差快速收敛为零。在重复控制器中采用了高阶低通滤波器和动态补偿器,改善了跟踪精度,保证了系统的稳定性,减少了周期性扰动误差。将所提出的方法应用于飞行模拟转台伺服系统的速度控制中,仿真结果表明,针对周期指令信号和周期干扰信号可保证较高的跟踪精度和较强的稳定性和鲁棒性。 相似文献