激光跟踪仪控制系统研究
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摘要
激光跟踪测量系统是在机器人计量学基础上发展起来的一种新型坐标测量方法。以激光干涉仪为基础的柔性坐标测量系统被认为是最有潜力的高精度、大范围、非接触、动态测量工具。
本课题基于球坐标法测量原理,设计了单站式激光跟踪测量系统。论文主要围绕球坐标法激光跟踪测量系统的一个关键部分——激光跟踪控制系统——展开论述。主要工作内容如下:
(1)伺服对象数学模型理论分析
通过数学模型分析各种扰动的干扰机制,指导控制系统的设计。本文中系统分析了伺服对象的数学模型,并通过实验进行了数学模型精度和模型参数测量。
(2)影响伺服跟踪系统控制效果的因素分析,并按干扰机制归类
全面分析系统中存在的扰动因素,并通过被控对象数学模型分析了它们的干扰机制,并按对电流转矩(角加速度相关)的扰动、对速度跟踪的扰动、对位置跟踪的扰动三大类进行分类整理,便于后面的三环分工设计与因素划分。
(3)电流环设计和实验调试,跟踪效果测试
采用数字PID算法设计电流环,对电流环的频率带宽、响应时间、跟踪精度进行实验测试。
(4)速度环设计和实验调试,跟踪效果测试
运用模糊PI控制、模糊神经网络控制、自抗扰控制等先进控制策略,通过具体实验结果总结以上几种控制策略的优点和缺点,借鉴了其中的一些控制策略与思想,并引入速度环的设计之中。
(5)位置环设计和实验调试,跟踪效果测试
针对反馈控制最根本的“快速”与“超调”之间矛盾的问题,进行了深入研究和算法尝试,并通过实验验证了其有效性。
(6)激光跟踪仪控制量的给定,复合控制技术研究
对控制量的给定进行了分析和实验效果验证,并对复合控制技术相关理论进行研究。
(7)目标速度的合成,预测滤波技术初探
设计了低通滤波器、平滑滤波器对目标速度进行滤波,并用于复合控制。对预测滤波技术进行了初步研究。
Laser Tracking System(LTS),as a new three dimensional measuring machine,is firstly used in Robot Measurement and Calibration Technology. Flexible coordinate measuring system,based on laser interferometer which is acknowledged as the highest precision device in large area distance measurement,is promised to be the most potential high precision,large-area,contactless, dynamic measurement tool. In our research subject,a single-station LTS is designed on the basis of sphere coordinates measurement principle.The paper is mainly focused on control system design of the single-station LTS.The main content of research work is as follows:
1) Theoretical Analysis of controlled object mathematical model
Mathematical model is very necessary in high precision and fast response tracking system which can help to analyze the interference mechanism of various disturbance.The controlled object mathematical model is deduced and model parameters are obtained and model precision is evaluated through experiments.
2) Analysis of disturbance factors and classification of them
All the disturbance factors are found out and the effort mechanism of them are clarified.All these factors are classified in three groups through their work mechanism:disturbance to current torque(angular acceleration related),disturbance to angular speed,disturbance to distance tracking,which is much helpful for modularization design of three-loops(current loop,speed loop,position loop) and responsibility distribution for every link in the control system.
3) Design of current loop and relative experiments
Current loop which reflects the robustness and rigidness of current torque determines the tracking performance of angular acceleration.The design demand of current loop can be easily met using traditional digital PID algorithm on account of high sensitivity and fastness of current response.Parameters like frequency bandwidth,response time,tracking error are obtained through experiments and real-time display and statistical analysis of current loop parameters are designed which is very useful for time domain and frequency domain analysis of current loop.
4) Design of speed loop and relative experiments
Speed loop is a key link in the whole control system and so design of speed loop is the main part of the research work in this paper.Actually,many disturbance factors in system will cause interfere to speed tracking,including linear factors and nonlinear factors(such as friction torque).An important idea in speed design is that all factor causing interfere to speed tracking should be enclosed in speed loop so that speed loop can be equalized as First Order Inertia Link with very short inertia time constant if rigidness and fastness of the speed loop meet design demand.Some advanced control strategy consisting of Fuzzy PI Control,Fuzzy Neural Network Control,Auto Disturbance Rejection Control(ADRC) are adopted in speed loop design and then advantages and disadvantages of them are concluded through their experiment tracking effects.
5) Design of position loop and relative experiments
The typical conflict between the overshot and rapidity in Feedback Control is deeply studied.In ADRC,Tracking Differentiator(TD) serves to solve that problem by arranging transition process of the command input while in Compound Control it is solved by leading signal feedforward.Mechanisms of the above two control strategies are researched and validities of them are evaluated by experiment.
6) Compound control in LTS
The relative theory of compound control is studied and put into use in LTS.
7) Composition of target speed and Prediction filtering technology
Composition of target speed is a key point in Compound control and Prediction filtering technology is an useful tool in target speed measurement. Theory studies and experiments are carried out in LTS.
本课题基于球坐标法测量原理,设计了单站式激光跟踪测量系统。论文主要围绕球坐标法激光跟踪测量系统的一个关键部分——激光跟踪控制系统——展开论述。主要工作内容如下:
(1)伺服对象数学模型理论分析
通过数学模型分析各种扰动的干扰机制,指导控制系统的设计。本文中系统分析了伺服对象的数学模型,并通过实验进行了数学模型精度和模型参数测量。
(2)影响伺服跟踪系统控制效果的因素分析,并按干扰机制归类
全面分析系统中存在的扰动因素,并通过被控对象数学模型分析了它们的干扰机制,并按对电流转矩(角加速度相关)的扰动、对速度跟踪的扰动、对位置跟踪的扰动三大类进行分类整理,便于后面的三环分工设计与因素划分。
(3)电流环设计和实验调试,跟踪效果测试
采用数字PID算法设计电流环,对电流环的频率带宽、响应时间、跟踪精度进行实验测试。
(4)速度环设计和实验调试,跟踪效果测试
运用模糊PI控制、模糊神经网络控制、自抗扰控制等先进控制策略,通过具体实验结果总结以上几种控制策略的优点和缺点,借鉴了其中的一些控制策略与思想,并引入速度环的设计之中。
(5)位置环设计和实验调试,跟踪效果测试
针对反馈控制最根本的“快速”与“超调”之间矛盾的问题,进行了深入研究和算法尝试,并通过实验验证了其有效性。
(6)激光跟踪仪控制量的给定,复合控制技术研究
对控制量的给定进行了分析和实验效果验证,并对复合控制技术相关理论进行研究。
(7)目标速度的合成,预测滤波技术初探
设计了低通滤波器、平滑滤波器对目标速度进行滤波,并用于复合控制。对预测滤波技术进行了初步研究。
Laser Tracking System(LTS),as a new three dimensional measuring machine,is firstly used in Robot Measurement and Calibration Technology. Flexible coordinate measuring system,based on laser interferometer which is acknowledged as the highest precision device in large area distance measurement,is promised to be the most potential high precision,large-area,contactless, dynamic measurement tool. In our research subject,a single-station LTS is designed on the basis of sphere coordinates measurement principle.The paper is mainly focused on control system design of the single-station LTS.The main content of research work is as follows:
1) Theoretical Analysis of controlled object mathematical model
Mathematical model is very necessary in high precision and fast response tracking system which can help to analyze the interference mechanism of various disturbance.The controlled object mathematical model is deduced and model parameters are obtained and model precision is evaluated through experiments.
2) Analysis of disturbance factors and classification of them
All the disturbance factors are found out and the effort mechanism of them are clarified.All these factors are classified in three groups through their work mechanism:disturbance to current torque(angular acceleration related),disturbance to angular speed,disturbance to distance tracking,which is much helpful for modularization design of three-loops(current loop,speed loop,position loop) and responsibility distribution for every link in the control system.
3) Design of current loop and relative experiments
Current loop which reflects the robustness and rigidness of current torque determines the tracking performance of angular acceleration.The design demand of current loop can be easily met using traditional digital PID algorithm on account of high sensitivity and fastness of current response.Parameters like frequency bandwidth,response time,tracking error are obtained through experiments and real-time display and statistical analysis of current loop parameters are designed which is very useful for time domain and frequency domain analysis of current loop.
4) Design of speed loop and relative experiments
Speed loop is a key link in the whole control system and so design of speed loop is the main part of the research work in this paper.Actually,many disturbance factors in system will cause interfere to speed tracking,including linear factors and nonlinear factors(such as friction torque).An important idea in speed design is that all factor causing interfere to speed tracking should be enclosed in speed loop so that speed loop can be equalized as First Order Inertia Link with very short inertia time constant if rigidness and fastness of the speed loop meet design demand.Some advanced control strategy consisting of Fuzzy PI Control,Fuzzy Neural Network Control,Auto Disturbance Rejection Control(ADRC) are adopted in speed loop design and then advantages and disadvantages of them are concluded through their experiment tracking effects.
5) Design of position loop and relative experiments
The typical conflict between the overshot and rapidity in Feedback Control is deeply studied.In ADRC,Tracking Differentiator(TD) serves to solve that problem by arranging transition process of the command input while in Compound Control it is solved by leading signal feedforward.Mechanisms of the above two control strategies are researched and validities of them are evaluated by experiment.
6) Compound control in LTS
The relative theory of compound control is studied and put into use in LTS.
7) Composition of target speed and Prediction filtering technology
Composition of target speed is a key point in Compound control and Prediction filtering technology is an useful tool in target speed measurement. Theory studies and experiments are carried out in LTS.
引文
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