基于鲁棒控制的液压伺服系统的半实物仿真研究
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摘要
电液位置伺服控制系统是当今控制领域重要的组成部分。本文的研究对象为轧机液压压下厚度控制系统试验装置,是一个典型的电液位置伺服控制系统。针对电液位置伺服系统中存在的参数不确定性的特点,本文设计了两种鲁棒控制器,并通过DSP控制器实现了所设计的鲁棒控制器。
首先,文章建立了电液位置伺服系统的数学模型,并根据系统数学模型开环传递函数的灵敏度函数的奈奎斯特曲线上的点,与临界稳定点(-1,j0)点的距离,设计了系统的鲁棒PID控制器。在系统数学模型参数发生摄动的情况下,分析了控制系统的单位阶跃响应曲线与基于幅值与相角裕度所设计的PID控制器控制下的系统单位阶跃响应曲线之间的差别,验证了所设计的鲁棒PID控制器的鲁棒性能。
其次,本文研究了控制系统中存在的不确定性的因素及其对系统的影响。并由此介绍了鲁棒控制器设计研究的由来,以及H_∞控制器设计的理论基础和设计H_∞混合灵敏度控制器时加权函数选取的原则。根据H_∞混合灵敏度控制器的设计方法,设计了轧机液压压下厚度系统试验装置的H_∞混合灵敏度控制器。
最后,根据文章设计的鲁棒PID控制器和H_∞混合灵敏度控制器,使用数字信号处理器TMS320F2812实现了两种鲁棒控制器的功能。为了验证所设计的DSP鲁棒控制器的控制性能,设计了电液位置伺服系统数学模型的电模拟器。通过DSP鲁棒控制器与电模拟器联合试验,以及控制系统单位阶跃响应曲线与仿真曲线的对比,证明了所设计的DSP鲁棒控制器与所预想的控制效果基本一致。
Electro-hydraulic position servo control system is the important part of the control fields nowadays. Thickness system of hydraulic mill stand roll-gap is the test device, which is used in the study, and the system is a typical electro-hydraulic position servo control system. For the feature of the parameter uncertainty in the electro-hydraulic position servo system, in the paper, two robust controllers are designed, and which are achieved by the DSP controller.
Firstly, the paper establishes mathematical model of the electro-hydraulic position servo control system, and designs a robust PID controller of the system, based on the distance between the points of the Nyquist curve of the sensitivity function of the open loop transfer function of the system mathematical model and the critical stable point (-1,j0).In the case of increasing and decreasing the parameters of the mathematical model of the system, the paper analysis the differences between the unit step response curve of the control system and the unit step response curve of the PID controller based on the amplitude and phase margin, demonstrates robust performance of the robust PID controller.
Secondly, the paper describes the uncertainty factors which the system exists and the impact of the system. And thus, the paper describes the origin of the design of robust controller, and the theory basis of designing H_∞controller and the selection principle of the weighting function when someone design the mixed sensitivity H_∞controller. Based on the method of designing the mixed sensitivity H_∞controller, the paper designs the mixed sensitivity H_∞controller of thickness system of hydraulic mill stand roll-gap.
Finally, according to the robust PID controller and the mixed sensitivity H∞controller which the article designs , the paper achieves the function of two robust controller used the digital signal processor of TMS320F2812. To verify the controlled performance of the DSP robust controller, the paper designs the electrical simulator of mathematical model of the electro-hydraulic position servo control system. Through the test of the DSP robust controller and the electrical simulator, and the comparison of the unit step response curve of the system with the simulation curve , the paper proves that the DSP robust controller which is designed is consistent with the desired control.
首先,文章建立了电液位置伺服系统的数学模型,并根据系统数学模型开环传递函数的灵敏度函数的奈奎斯特曲线上的点,与临界稳定点(-1,j0)点的距离,设计了系统的鲁棒PID控制器。在系统数学模型参数发生摄动的情况下,分析了控制系统的单位阶跃响应曲线与基于幅值与相角裕度所设计的PID控制器控制下的系统单位阶跃响应曲线之间的差别,验证了所设计的鲁棒PID控制器的鲁棒性能。
其次,本文研究了控制系统中存在的不确定性的因素及其对系统的影响。并由此介绍了鲁棒控制器设计研究的由来,以及H_∞控制器设计的理论基础和设计H_∞混合灵敏度控制器时加权函数选取的原则。根据H_∞混合灵敏度控制器的设计方法,设计了轧机液压压下厚度系统试验装置的H_∞混合灵敏度控制器。
最后,根据文章设计的鲁棒PID控制器和H_∞混合灵敏度控制器,使用数字信号处理器TMS320F2812实现了两种鲁棒控制器的功能。为了验证所设计的DSP鲁棒控制器的控制性能,设计了电液位置伺服系统数学模型的电模拟器。通过DSP鲁棒控制器与电模拟器联合试验,以及控制系统单位阶跃响应曲线与仿真曲线的对比,证明了所设计的DSP鲁棒控制器与所预想的控制效果基本一致。
Electro-hydraulic position servo control system is the important part of the control fields nowadays. Thickness system of hydraulic mill stand roll-gap is the test device, which is used in the study, and the system is a typical electro-hydraulic position servo control system. For the feature of the parameter uncertainty in the electro-hydraulic position servo system, in the paper, two robust controllers are designed, and which are achieved by the DSP controller.
Firstly, the paper establishes mathematical model of the electro-hydraulic position servo control system, and designs a robust PID controller of the system, based on the distance between the points of the Nyquist curve of the sensitivity function of the open loop transfer function of the system mathematical model and the critical stable point (-1,j0).In the case of increasing and decreasing the parameters of the mathematical model of the system, the paper analysis the differences between the unit step response curve of the control system and the unit step response curve of the PID controller based on the amplitude and phase margin, demonstrates robust performance of the robust PID controller.
Secondly, the paper describes the uncertainty factors which the system exists and the impact of the system. And thus, the paper describes the origin of the design of robust controller, and the theory basis of designing H_∞controller and the selection principle of the weighting function when someone design the mixed sensitivity H_∞controller. Based on the method of designing the mixed sensitivity H_∞controller, the paper designs the mixed sensitivity H_∞controller of thickness system of hydraulic mill stand roll-gap.
Finally, according to the robust PID controller and the mixed sensitivity H∞controller which the article designs , the paper achieves the function of two robust controller used the digital signal processor of TMS320F2812. To verify the controlled performance of the DSP robust controller, the paper designs the electrical simulator of mathematical model of the electro-hydraulic position servo control system. Through the test of the DSP robust controller and the electrical simulator, and the comparison of the unit step response curve of the system with the simulation curve , the paper proves that the DSP robust controller which is designed is consistent with the desired control.
引文
[1]余愿.中厚板液压压下位置伺服控制系统的设计与研究[D].武汉:武汉理工大学,2010.
[2]王娟.LabVIEW对电液伺服系统的在线控制和仿真[D].昆明:西南林学院,2008.
[3]杜峰坡,穆希辉,张宝富,来升.经济型防爆电动叉车设计技术研究[J].机械设计与制造,2010,(6):24-26.
[4]张超.钢管倒棱机电液伺服系统研究与设计[D].西安:西安建筑科技大学,2005.
[5]谢飞.液压控制系统在开闭顶体育场中的应用研究[D].洛阳:河南科技大学,2008.
[6]刘国富.工程船舶液压系统设计及打桩船液压系统的改进设计与仿真研究[D].上海:上海海事大学,2004.
[7]李存君.数控液压比例进给平台应用研究[D].北京:北京工业大学,2003.
[8]赵元金,李虹,马明.电液位置伺服系统的H_∞混合灵敏度控制研究[J].自动化仪表,2009,30(9):27-29.
[9]冯志君.电液伺服系统容错控制研究[D].兰州:兰州理工大学,2005.
[10]傅德彬,姜毅,张强.液压系统半实物仿真平台设计[J].系统仿真学报,2007,19(15):3422-3424.
[11]潘峰,薛定宇,徐心和.基于dSPACE半实物仿真技术的伺服控制研究与应用[J].系统仿真学报,2004,16(5):936-939.
[12]刘燕燕.基于人工神经网络改进型参数整定的智能PID控制研究[D].中国石油大学(华东),2009.
[13]徐进.自适应PID在柴油机电子调速中的应用研究[D].哈尔滨:哈尔滨工程大学,2009.
[14] Teng F. C. Adaptive control scheme for a robot manipulator: Direct decoupler and PID controller [J].Int.J.Syst.Sci.1993,24(2):315-327.
[15]王强.基于闭环系统响应特征的自适应控制[D].广州:东南大学,2008.
[16]贾英民.鲁棒H_∞控制[M].北京:科学出版社,2007.
[17]苏晓明,吕明珠.广义不确定周期时变系统的鲁棒稳定性分析[J].自动化学报,2006,32(4):481-488.
[18]李金静.液压位置伺服系统的自适应控制研究[D].太原:太原科技大学,2010.
[19]周立宏,汪世益,柏余发,吴芳,胡闯.摆剪压下辊液压故障分析[J].安徽冶金科技职业学院学报,2009,19(1):18-20.
[20]陈彬,易孟林,徐晶晶,廖金军.伺服调节器系统的理论分析[J].机械与电子,2007,(5):14-17.
[21]吴振顺,腾序翎.时变参数气动系统自适应控制的仿真研究[J].哈尔滨工业大学学报,1998,30(6):33-36.
[22] R.Toscano. A simple robust PI/PID controller design via numerical optimization approach[J].Journal of Process Control,2005,(15):81-88.
[23]王菊芳.不确定系统保成本控制问题的研究[D].石家庄:河北科技大学,2008.
[24]张昕刚.球磨机制粉系统的鲁棒性设计研究[D].保定:华北电力大学,2006.
[25]于琨.多输入多输出非线性系统的自适应H_∞跟踪控制[D].成都:四川大学,2006.
[26] G.Zames. Feedback and Optimal Sensitivity: Model Reference Transformations[J]. Multiplicative Seminars, and Approximate Inverses, IEEE Transactions on Automatic Control,1981,26(2):301-320.
[27]申铁龙.H_∞控制理论及应用[M].北京:清华大学出版社,1996:210-217.
[28]王广雄,袁欣.H_∞设计:两块还是三块问题[J].电机与控制学报,2001,5(2):81-83.
[29]赵慧,姜洪洲,韩俊伟,曾祥荣.H_∞混合灵敏度控制在液压伺服系统中的应用[J].中国机械工程,2002,13(3):195-197.
[30]马瑞,卢毅.H∞控制器设计中的相关问题讨论[J].西北工业大学学报,1996,14(2):259-264.
[31]邓燕妮,胡荣强,桂卫华.H_∞控制的工程应用及特点研究[J].武汉汽车工业大学学报,1997,19(6):34-38.
[32] http://www.21ic.com/app/power/201103/79777.htm
[33]赵钢筋,于建均,王兆明,孙亮.基于DSP控制的位控液压伺服系统电模拟仿真器[J].电气电子教学学报,2008,30(1):85-96.
[34]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2003.
[2]王娟.LabVIEW对电液伺服系统的在线控制和仿真[D].昆明:西南林学院,2008.
[3]杜峰坡,穆希辉,张宝富,来升.经济型防爆电动叉车设计技术研究[J].机械设计与制造,2010,(6):24-26.
[4]张超.钢管倒棱机电液伺服系统研究与设计[D].西安:西安建筑科技大学,2005.
[5]谢飞.液压控制系统在开闭顶体育场中的应用研究[D].洛阳:河南科技大学,2008.
[6]刘国富.工程船舶液压系统设计及打桩船液压系统的改进设计与仿真研究[D].上海:上海海事大学,2004.
[7]李存君.数控液压比例进给平台应用研究[D].北京:北京工业大学,2003.
[8]赵元金,李虹,马明.电液位置伺服系统的H_∞混合灵敏度控制研究[J].自动化仪表,2009,30(9):27-29.
[9]冯志君.电液伺服系统容错控制研究[D].兰州:兰州理工大学,2005.
[10]傅德彬,姜毅,张强.液压系统半实物仿真平台设计[J].系统仿真学报,2007,19(15):3422-3424.
[11]潘峰,薛定宇,徐心和.基于dSPACE半实物仿真技术的伺服控制研究与应用[J].系统仿真学报,2004,16(5):936-939.
[12]刘燕燕.基于人工神经网络改进型参数整定的智能PID控制研究[D].中国石油大学(华东),2009.
[13]徐进.自适应PID在柴油机电子调速中的应用研究[D].哈尔滨:哈尔滨工程大学,2009.
[14] Teng F. C. Adaptive control scheme for a robot manipulator: Direct decoupler and PID controller [J].Int.J.Syst.Sci.1993,24(2):315-327.
[15]王强.基于闭环系统响应特征的自适应控制[D].广州:东南大学,2008.
[16]贾英民.鲁棒H_∞控制[M].北京:科学出版社,2007.
[17]苏晓明,吕明珠.广义不确定周期时变系统的鲁棒稳定性分析[J].自动化学报,2006,32(4):481-488.
[18]李金静.液压位置伺服系统的自适应控制研究[D].太原:太原科技大学,2010.
[19]周立宏,汪世益,柏余发,吴芳,胡闯.摆剪压下辊液压故障分析[J].安徽冶金科技职业学院学报,2009,19(1):18-20.
[20]陈彬,易孟林,徐晶晶,廖金军.伺服调节器系统的理论分析[J].机械与电子,2007,(5):14-17.
[21]吴振顺,腾序翎.时变参数气动系统自适应控制的仿真研究[J].哈尔滨工业大学学报,1998,30(6):33-36.
[22] R.Toscano. A simple robust PI/PID controller design via numerical optimization approach[J].Journal of Process Control,2005,(15):81-88.
[23]王菊芳.不确定系统保成本控制问题的研究[D].石家庄:河北科技大学,2008.
[24]张昕刚.球磨机制粉系统的鲁棒性设计研究[D].保定:华北电力大学,2006.
[25]于琨.多输入多输出非线性系统的自适应H_∞跟踪控制[D].成都:四川大学,2006.
[26] G.Zames. Feedback and Optimal Sensitivity: Model Reference Transformations[J]. Multiplicative Seminars, and Approximate Inverses, IEEE Transactions on Automatic Control,1981,26(2):301-320.
[27]申铁龙.H_∞控制理论及应用[M].北京:清华大学出版社,1996:210-217.
[28]王广雄,袁欣.H_∞设计:两块还是三块问题[J].电机与控制学报,2001,5(2):81-83.
[29]赵慧,姜洪洲,韩俊伟,曾祥荣.H_∞混合灵敏度控制在液压伺服系统中的应用[J].中国机械工程,2002,13(3):195-197.
[30]马瑞,卢毅.H∞控制器设计中的相关问题讨论[J].西北工业大学学报,1996,14(2):259-264.
[31]邓燕妮,胡荣强,桂卫华.H_∞控制的工程应用及特点研究[J].武汉汽车工业大学学报,1997,19(6):34-38.
[32] http://www.21ic.com/app/power/201103/79777.htm
[33]赵钢筋,于建均,王兆明,孙亮.基于DSP控制的位控液压伺服系统电模拟仿真器[J].电气电子教学学报,2008,30(1):85-96.
[34]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2003.