空间对接半物理仿真系统失真的内模控制方法
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摘要
在空间对接半物理仿真系统中,运动模拟器的响应延迟会导致系统产生发散失真现象,甚至导致机械部件损伤。为解决该系统失真问题,提出了基于内模控制的系统失真补偿方法。本文分析了系统的失真原理,将内模控制方法应用于该系统,并等效为内模PID控制(IMC-PID)模型。利用模型辨识方法,采用二阶模型拟合高阶模型。对于空间对接半物理仿真系统,进行单自由度碰撞数字仿真与实验,验证该方法的可行性,为空间对接半物理仿真系统的失真问题提供了新的解决方法。
In a hardware-in-the-loop docking simulation system, the response delay of the motion simulator will lead to divergence distortion of the system, which might even lead to the mechanical component damage. In order to solve the problem, a compensation method based on internal model control is proposed. After analyzing the distortion principle of the system, the internal-model control method is used in the system, which is equivalent to the IMC-PID model. Using the model identification method, the second-order model is used to simplify the high-order model. The single-degree-of-freedom digital simulation and experiment of the hardware-in-the-loop simulation system is established to verify the feasibility of the method, which provides new solution for the distortion of the hardware-in-the-loop docking simulation system.
In a hardware-in-the-loop docking simulation system, the response delay of the motion simulator will lead to divergence distortion of the system, which might even lead to the mechanical component damage. In order to solve the problem, a compensation method based on internal model control is proposed. After analyzing the distortion principle of the system, the internal-model control method is used in the system, which is equivalent to the IMC-PID model. Using the model identification method, the second-order model is used to simplify the high-order model. The single-degree-of-freedom digital simulation and experiment of the hardware-in-the-loop simulation system is established to verify the feasibility of the method, which provides new solution for the distortion of the hardware-in-the-loop docking simulation system.
引文
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[2]林琪,来嘉哲.空间交会对接仿真技术研究[J].装备指挥技术学院学报,2008,19(5):53-57.
[3]延皓.基于液压六自由度平台的空间对接HIL仿真系统研究[D].哈尔滨:哈尔滨工业大学,2007
[4]常同立,丛大成,叶正茂,等.空间对接动力学半物理仿真基本问题解决方案研究[J].宇航学报,2008(1):53-58.
[5]廖能超.空间交会对接HIL仿真系统运动模拟器的研究[D].上海:上海交通大学,2014.
[6]SHIMOJI H,INOUE M,TSUCHIYA K,et al.Simulation system for a space robot using six-axis servos[J].Adv Robot,1991,6(2):179-96.
[7]ZEBENAY M,BOGE T,KRENN R,et al.Analytical and experimental stability investigation of a hardware-in-the-loop satellite docking simulator[J].Proc IMechE Part G:J Aerosp Eng2015;229(4):666-81
[8]LIU T,GAO F.Industrial process identification and control design:step-test and relay-experiment based methods[I].London UK:Springer Science&Business Media,ZU J1.
[9]SEBORG D E.Process dynamics and control[M].New York:John Wiley&Sons,2010.
[10]薛美盛,白东进,王川.基于Pade近似一般形式的IMC-PID控制器设计[J].控制工程,2010 17(6):715-718
[11]乔立,赵现朝,齐臣坤,等.空间对接半物理仿真噪声处理研究[J].机械设计与研究,2017,33(4):33-35.
[12]王笑,钟帏励.基于IMC的PID控制器的设计实现[J].计算机仿真,2005,22(8):80-82.
[13]GARCIA C E,MORARI M.Internal model control.2.Design procedure for multivariable system[J].Industrial Engineering Chemistry Process Design and Development,1985,24(2):472-484.
[14]门金来,吴勃夫,陈杰.汽车伪线性内模操稳控制策略建模与仿真[J].机械设计与研究,2011,27(4):50-53.
[15]张春晓.解决非线性最小二乘问题的两种方法[J].青海大学学报,2003,21(5):60-64.