电动式被动力伺服控制系统设计及实验分析
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摘要
电动负载模拟器是地面半实物飞行仿真试验的重要设备,它能够给导弹和飞机等飞行器的舵机系统实时施加力矩载荷,是一种典型的电动式被动力矩伺服系统。被动力伺服系统中突出的问题为多余力问题,如何能够根据系统特点进行有效的伺服控制系统设计,提高性能品质,具有重要的意义。本文以ET107B型电动负载模拟器伺服控制系统设计为背景,完成了以下研究工作:
首先,分析了电动式被动力伺服控制系统的结构及工作原理,建立了电动式被动力伺服控制系统的数学模型,其中包括电动舵机部分及负载模拟器部分。通过对模型进行化简分析相应控制问题并通过实验验证了含有不确定性的系统模型。
第二,在模型分析的基础上,采用了IP-内模控制的设计思想,以及辅以前馈补偿的复合控制方法完成了电动式被动力伺服系统的控制设计;针对扭转谐振问题,采用了改善阻尼的抑制方法并进行了仿真。
最后,将设计的控制器应用到ET107B负载模拟器上,根据指标要求,完成了电动式被动力伺服控制系统的多项性能实验测试,并对实验结果进行了分析。
以上设计及实验分析说明,所设计的控制器对多余力矩和扭转谐振取得了较有效的抑制效果。
The electrical torque load simulator is the key equipments in hardware-in-the-loop simulation of the weapon system. It is used to give real-time torque load to the rudder of aerocraft i.e missiles and planes. It’s a typical kind of passive torque servo system. And the extrusive problem in this kind of system is the surplus torque, so it is very important that how to effectively design the system according to the characteristic of the system. Based on the design of servo control system of ET107B electrical torque load simulator, following jobs are finished in this paper.
Firstly, the structure and working principle of the system is analysed in this paper, and the mathematical model of the load simulator with electrical rudder section and torque simulator section included is established,. The control method is researched by predigesting the model. The model of the system with uncertaintyes is verifyied by experiment.
Secondly, the IP-IMC control method is proposed based on the analysis of the model and the design of the passive torque servo system is completed by combining the forwardfeed compensation, which is the hybrid control method.
For the resonance in torsional, a control method implemented by improving the damp is proposed and its effectiveness is verified by simulations.
Lastly, the designed controller is applied to ET107B simulator and the test experiments are analysed.
All of the work shows that, the designed controller is effective in restraining surplus torque and resonance in torsional.
首先,分析了电动式被动力伺服控制系统的结构及工作原理,建立了电动式被动力伺服控制系统的数学模型,其中包括电动舵机部分及负载模拟器部分。通过对模型进行化简分析相应控制问题并通过实验验证了含有不确定性的系统模型。
第二,在模型分析的基础上,采用了IP-内模控制的设计思想,以及辅以前馈补偿的复合控制方法完成了电动式被动力伺服系统的控制设计;针对扭转谐振问题,采用了改善阻尼的抑制方法并进行了仿真。
最后,将设计的控制器应用到ET107B负载模拟器上,根据指标要求,完成了电动式被动力伺服控制系统的多项性能实验测试,并对实验结果进行了分析。
以上设计及实验分析说明,所设计的控制器对多余力矩和扭转谐振取得了较有效的抑制效果。
The electrical torque load simulator is the key equipments in hardware-in-the-loop simulation of the weapon system. It is used to give real-time torque load to the rudder of aerocraft i.e missiles and planes. It’s a typical kind of passive torque servo system. And the extrusive problem in this kind of system is the surplus torque, so it is very important that how to effectively design the system according to the characteristic of the system. Based on the design of servo control system of ET107B electrical torque load simulator, following jobs are finished in this paper.
Firstly, the structure and working principle of the system is analysed in this paper, and the mathematical model of the load simulator with electrical rudder section and torque simulator section included is established,. The control method is researched by predigesting the model. The model of the system with uncertaintyes is verifyied by experiment.
Secondly, the IP-IMC control method is proposed based on the analysis of the model and the design of the passive torque servo system is completed by combining the forwardfeed compensation, which is the hybrid control method.
For the resonance in torsional, a control method implemented by improving the damp is proposed and its effectiveness is verified by simulations.
Lastly, the designed controller is applied to ET107B simulator and the test experiments are analysed.
All of the work shows that, the designed controller is effective in restraining surplus torque and resonance in torsional.
引文
1 Tanaka, Hirohisa. Fluid Power Control Technology Present and Future. JSME. 1994,(12):629~637
2 苏永清, 黄献龙, 赵克定. 国内电液负载仿真台研究与发展现状. 机床与液压. 1999,(2):17~18
3 Yoonsu Nam, Jinyoung Lee, Sung Kyung Hong. Force Control System Design for Aero-dynamic Load Simulator. In Proceeding of American Control Conference, 2000, Chicago, Illinois, 2000:3043~3047
4 任志婷. 快速、高精度的电动加载系统. 北京航空航天大学硕士论文. 2002:3~5
5 邹海峰, 孙力, 阎杰. 飞行器舵机电动伺服加载系统研究. 系统仿真学报. 2004,(4):33~35
6 苏东海. 提高电液负载仿真台控制性能的研究. 哈尔滨工业大学博士学位论文. 1998:12~13
7 华清. 电液负载模拟器关键技术的研究. 北京航空航天大学博士学文. 2001:6~11
8 赵玉琢. 被动式电液力控制系统的辅助同步及补偿控制. 自动化技术及应用. 1985,4(2):25~31
9 赵玉琢. 被动式电液力控制系统中多余力的实验研究. 自动化技术与应用. 1986,5(2):71~74
10 关静丽. 电动式力矩负载模拟器. 北京航空航天大学学位论文. 2001:6~9
11 任志婷, 焦宗夏.小转矩电动式负载模拟器的设计. 北京航空航天大学学报. 2003,29(1):91~94
12 王明彦, 郭奔. 基于迭代学习控制的电动伺服负载模拟器. 中国电机工程学报. 2003,23(12):123~127
13 C. Ramden, A. Jansson, J. Palmberg. Design and Analysis of a Load Simulator for Testing Hydraulic Values. Fluid Power Engineering Challenges and Solutions, Bath, England,1997:10~12
14 M. Martin, R. Tburton, and G.J. Schoenau. Analysis, Design and Compensation of Computer Controlled Hydraulic Load Simulator. Proceedings of ASME WinterMeeting, 1992, (12):33~34
15 Ohuchi, Juku etc. Model Reference Adaptive Control of a Hydraulic Load Simulator. ICFP’93, Hangzhou China. Sept 14~16,1993
16 N. Niksefat, N. Sepehri. Design and Experimental Evaluation of A Robust Force Controller for An Electro-hydraulic Actuator via Quantitative Feedback Theory. Control Engineering Practice. 2000,(8):1335~1345
17 Navid Niksefat, Nariman Sepehri. Designing Robust Force Control of Hydraulic Actuators Despite System and Environmental Uncertainties. IEEE Control Systems Magazine. 2001,(4):66~77
18 刘长年. 液压伺服系统优化设计理论. 冶金工业出版社, 1989:77~85
19 徐本洲. 被动式电液力控制系统的干扰抑制与渐进跟踪研究. 哈尔滨工业大学博士论文. 1992:14~16
20 刘长年. 负载模拟器的优化设计. 流体控制工程与机器人第八届学术会议论文集.洛阳. 1993:135~137
21 蔡永强, 王占林. 力伺服系统的模糊自适应控制. 北京航空航天大学学报. 1999(1):21~23
22 阎杰, 赵晓蓓. 电液伺服加载系统的自适应 PID 控制. 中国航空学会第五届飞行控制与操纵年会文集. 1993:177~179
23 李运华等. 舵机力矩负载模拟器的混合控制方法研究. 航空学报. 2001(7):27~30
24 焦宗夏,华清. 电液负载模拟器的 RBF 神经网络控制. 机械工程学报. 2003,39(1):10~16
25 沈东凯, 王占林. 基于对角回归神经网络的电动加载系统. 机床与液压. 2002,(6):136~138
26 孙炳达. 克服电气传动机械谐振一种新的控制结构. 电气传动. 1998, (1):29~30
27 肖田元等. 克服大型雷达伺服系统机械谐振的一种新设计方法及仿真. 信息与控制. 1986,(3):11~15
28 朱仁初等. 电力拖动控制系统设计手册. 机械工业出版社. 1992:117~119
29 代建民, 徐邦荃. 双电机驱动的弹性系统的机械谐振抑制控制. 电机电器技术. 2000,(4):23~28
30 K. Ohnishi. Accurate Torque Control for A Geared DC Motor Based on an Acceleration Controller. IEEE IECON’ 92. 1991, (2):395~400.
31 J. Y. Hung Control of Industrial Robots that Have Transmission Elasticity. IEEE Trans.Ind.Electron. 1991,(38):421~427
32 J. K. Ji, S. K. Sul. Kalman Filter and LQ Based Speed Controller for Torsional Vibration Suppression in a 2-mass Motor Drive System. IEEE Trans. Ind. Electron, 1995,(42):564~571
33 F. Gborbel, J. Y. Hung. Spong M W. Adaptive Control of Flexible Joint Manipulators. IEEE Contr. Syst. Mag. 1989, (9):9~13
34 R. Dhauadi, K. Kubo, M.Tohise. Analysis and Compensation of Speed Drive Systems with Torsional loads. IEEE Trans. Ind. Applicat. 1994, (30): 760~ 766
35 胡祖松. 多电机控制系统谐振抑制及分析软件设计. 华中科技大学硕士论文. 2002
36 胡清, 童怀. 伺服系统谐振问题的研究. 电气传动. 2000,(3):22~24
37 E. F. Persson. Brushless DC Motors-A Review of The State of The Art. Pro. Of First International Motor Control Conference, Chicago, 1981:552~600
38 王淦绪. 钕铁硼永磁及其在电机中的应用. 微电机. 1993, (3):21~26
39 孙业树. 基于 DSP 的永磁同步电动机交流伺服控制系统的研究与设计. 江苏大学硕士论文. 2003, (6):55~57
40 范丽丽. 电动负载模拟器伺服控制系统设计与实验分析. 哈尔滨工业大学硕士论文. 2005:17~18
41 C. E. Garcia, M. Morari. Internal Model Control-1:A Unifying Review and Some New Results. Ind Eng Chem Proc Des Dev, 1982,(21):308~323
42 J. M. Vandenrsen Internal Model Control with Improved Disturbance Rejection. Int.J control, 1995,62(4):983~999
43 M. Morari. Robust Process Control ,Englewood Cliffs, NJ:Prentice-Hall, 1989:15~17
44 X. Yue, M. Vilathgamuwa, K. J. Tseng, et al. Modeling and Robust Adaptive Control of A Three-axis Motion Simulator. IEEE Industry Applications Society Annual Meeting, 2001,(1):553~560
45 C. M. Liaw. Design and Implementation of A High Performance Induction Motor Servo System. IEE Proc. B, 1993, (3):241~248
46 G. A. MURAD. Robust Internal Model Control of Binary Distillation Column [J]. ICIT, 1996:194~198
47 卢子广. 电子换向器电机伺服系统的二自由度 H∞ 优化控制. 自动化学报. 1998, 24 (1):37~42
48 Zhang Jinggang. Robust Two-degree-of freedom Control for AC Servo System. Proc. IPEMC, 1997
49 Y. Fujimoto. Robust Servo System Based on Two-degree-of freedom Control with Sliding Mode. IEEE Trans. on IE, 1995,42(3):272~280
2 苏永清, 黄献龙, 赵克定. 国内电液负载仿真台研究与发展现状. 机床与液压. 1999,(2):17~18
3 Yoonsu Nam, Jinyoung Lee, Sung Kyung Hong. Force Control System Design for Aero-dynamic Load Simulator. In Proceeding of American Control Conference, 2000, Chicago, Illinois, 2000:3043~3047
4 任志婷. 快速、高精度的电动加载系统. 北京航空航天大学硕士论文. 2002:3~5
5 邹海峰, 孙力, 阎杰. 飞行器舵机电动伺服加载系统研究. 系统仿真学报. 2004,(4):33~35
6 苏东海. 提高电液负载仿真台控制性能的研究. 哈尔滨工业大学博士学位论文. 1998:12~13
7 华清. 电液负载模拟器关键技术的研究. 北京航空航天大学博士学文. 2001:6~11
8 赵玉琢. 被动式电液力控制系统的辅助同步及补偿控制. 自动化技术及应用. 1985,4(2):25~31
9 赵玉琢. 被动式电液力控制系统中多余力的实验研究. 自动化技术与应用. 1986,5(2):71~74
10 关静丽. 电动式力矩负载模拟器. 北京航空航天大学学位论文. 2001:6~9
11 任志婷, 焦宗夏.小转矩电动式负载模拟器的设计. 北京航空航天大学学报. 2003,29(1):91~94
12 王明彦, 郭奔. 基于迭代学习控制的电动伺服负载模拟器. 中国电机工程学报. 2003,23(12):123~127
13 C. Ramden, A. Jansson, J. Palmberg. Design and Analysis of a Load Simulator for Testing Hydraulic Values. Fluid Power Engineering Challenges and Solutions, Bath, England,1997:10~12
14 M. Martin, R. Tburton, and G.J. Schoenau. Analysis, Design and Compensation of Computer Controlled Hydraulic Load Simulator. Proceedings of ASME WinterMeeting, 1992, (12):33~34
15 Ohuchi, Juku etc. Model Reference Adaptive Control of a Hydraulic Load Simulator. ICFP’93, Hangzhou China. Sept 14~16,1993
16 N. Niksefat, N. Sepehri. Design and Experimental Evaluation of A Robust Force Controller for An Electro-hydraulic Actuator via Quantitative Feedback Theory. Control Engineering Practice. 2000,(8):1335~1345
17 Navid Niksefat, Nariman Sepehri. Designing Robust Force Control of Hydraulic Actuators Despite System and Environmental Uncertainties. IEEE Control Systems Magazine. 2001,(4):66~77
18 刘长年. 液压伺服系统优化设计理论. 冶金工业出版社, 1989:77~85
19 徐本洲. 被动式电液力控制系统的干扰抑制与渐进跟踪研究. 哈尔滨工业大学博士论文. 1992:14~16
20 刘长年. 负载模拟器的优化设计. 流体控制工程与机器人第八届学术会议论文集.洛阳. 1993:135~137
21 蔡永强, 王占林. 力伺服系统的模糊自适应控制. 北京航空航天大学学报. 1999(1):21~23
22 阎杰, 赵晓蓓. 电液伺服加载系统的自适应 PID 控制. 中国航空学会第五届飞行控制与操纵年会文集. 1993:177~179
23 李运华等. 舵机力矩负载模拟器的混合控制方法研究. 航空学报. 2001(7):27~30
24 焦宗夏,华清. 电液负载模拟器的 RBF 神经网络控制. 机械工程学报. 2003,39(1):10~16
25 沈东凯, 王占林. 基于对角回归神经网络的电动加载系统. 机床与液压. 2002,(6):136~138
26 孙炳达. 克服电气传动机械谐振一种新的控制结构. 电气传动. 1998, (1):29~30
27 肖田元等. 克服大型雷达伺服系统机械谐振的一种新设计方法及仿真. 信息与控制. 1986,(3):11~15
28 朱仁初等. 电力拖动控制系统设计手册. 机械工业出版社. 1992:117~119
29 代建民, 徐邦荃. 双电机驱动的弹性系统的机械谐振抑制控制. 电机电器技术. 2000,(4):23~28
30 K. Ohnishi. Accurate Torque Control for A Geared DC Motor Based on an Acceleration Controller. IEEE IECON’ 92. 1991, (2):395~400.
31 J. Y. Hung Control of Industrial Robots that Have Transmission Elasticity. IEEE Trans.Ind.Electron. 1991,(38):421~427
32 J. K. Ji, S. K. Sul. Kalman Filter and LQ Based Speed Controller for Torsional Vibration Suppression in a 2-mass Motor Drive System. IEEE Trans. Ind. Electron, 1995,(42):564~571
33 F. Gborbel, J. Y. Hung. Spong M W. Adaptive Control of Flexible Joint Manipulators. IEEE Contr. Syst. Mag. 1989, (9):9~13
34 R. Dhauadi, K. Kubo, M.Tohise. Analysis and Compensation of Speed Drive Systems with Torsional loads. IEEE Trans. Ind. Applicat. 1994, (30): 760~ 766
35 胡祖松. 多电机控制系统谐振抑制及分析软件设计. 华中科技大学硕士论文. 2002
36 胡清, 童怀. 伺服系统谐振问题的研究. 电气传动. 2000,(3):22~24
37 E. F. Persson. Brushless DC Motors-A Review of The State of The Art. Pro. Of First International Motor Control Conference, Chicago, 1981:552~600
38 王淦绪. 钕铁硼永磁及其在电机中的应用. 微电机. 1993, (3):21~26
39 孙业树. 基于 DSP 的永磁同步电动机交流伺服控制系统的研究与设计. 江苏大学硕士论文. 2003, (6):55~57
40 范丽丽. 电动负载模拟器伺服控制系统设计与实验分析. 哈尔滨工业大学硕士论文. 2005:17~18
41 C. E. Garcia, M. Morari. Internal Model Control-1:A Unifying Review and Some New Results. Ind Eng Chem Proc Des Dev, 1982,(21):308~323
42 J. M. Vandenrsen Internal Model Control with Improved Disturbance Rejection. Int.J control, 1995,62(4):983~999
43 M. Morari. Robust Process Control ,Englewood Cliffs, NJ:Prentice-Hall, 1989:15~17
44 X. Yue, M. Vilathgamuwa, K. J. Tseng, et al. Modeling and Robust Adaptive Control of A Three-axis Motion Simulator. IEEE Industry Applications Society Annual Meeting, 2001,(1):553~560
45 C. M. Liaw. Design and Implementation of A High Performance Induction Motor Servo System. IEE Proc. B, 1993, (3):241~248
46 G. A. MURAD. Robust Internal Model Control of Binary Distillation Column [J]. ICIT, 1996:194~198
47 卢子广. 电子换向器电机伺服系统的二自由度 H∞ 优化控制. 自动化学报. 1998, 24 (1):37~42
48 Zhang Jinggang. Robust Two-degree-of freedom Control for AC Servo System. Proc. IPEMC, 1997
49 Y. Fujimoto. Robust Servo System Based on Two-degree-of freedom Control with Sliding Mode. IEEE Trans. on IE, 1995,42(3):272~280