三轴转台控制系统设计
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摘要
三轴转台是应用在半实物仿真系统中,模拟被测物体姿态变化的装置。本文中,我们研究的主要内容为三轴转台。本文以实际工程项目为背景,主要研究三轴转台的控制系统设计。
随着武器系统精度的不断提高,对其测试装置的要求也越来越高。论文首先简要阐述了国内外三轴转台的研究现状,并简要总结了我国转台的发展方向、各类控制方法在该领域的应用情况以及转台控制系统存在的主要问题。
根据系统的性能指标要求,给出了三轴转台的总体控制系统设计方案。区别于普通转台单电机驱动的方式,我们采用双电机驱动,不仅能够提供较大的转矩,同时也有利于解决偏心问题。但是,双电机驱动必然会带来两个电机的同步控制问题,论文采用了转矩调节器的主从控制方式,简易地实现了电机的同步控制。
论文针对扰动力矩提出采用模型参考自适应控制策略对三轴转台进行控制系统设计。论文分别建立了三轴转台三个轴的动力学模型,然后根据系统性能指标要求,设定了参考模型,并最终搭建了完整的模型参考自适应系统仿真框图。同时对三阶模型跟踪二阶模型的效果进行了考察,结果表明与三阶模型跟踪三阶模型效果相差不大。模型参考自适应控制方法的系统仿真表明,在系统存在非线性特性和较强的负载干扰力矩时,该控制系统能够有效抑制外界干扰和参数摄动的影响,实现了良好的跟踪特性。
论文建立了三个单轴控制系统数学模型,用经典的PID控制策略,以速度环和位置环双闭环的控制方式,对转台系统完成了超前滞后校正设计。针对转台要求频带宽度较高的现象,我们以外框为例采取了前馈控制加反馈控制的复合控制方式,结果表明前馈控制可以在保证稳定性不变的情况下,提高系统响应速度以及减小稳态误差。对经典的PID控制策略和模型参考自适应控制策略进行了比较,结果表明,PID可以在对精确的数学模型以及被控对象在微弱变化时的控制效果满足要求,而当控制对象有较大变化或者扰动较大时,其控制效果不良。与PID相比,模型参考自适应控制策略取得了更好的动态性能和稳态精度。
Three-axis turntable is applied in-the-loop simulation system to simulate the measured object pose variation. In the paper, we research on three-axis turntable.Basing on the practical project, we mainly research the design of the three-axis turntable.
With the improvement of the precision weapons systems, their testing devices need increasingly high requirements. First, briefly described the current research state of the domestic and international three-axis turntable, and concluded our cuntry’s turntable development direction and kinds of contolling ways’application and main questions existed in three-axis turntable control system.
According to the system performance requirements of three-axis turntable, we proposed the overall control system design program. Different from single-motor drive for the turntable, we adopted the style of the dual-motor drive. It not only can supply enough torque, but also is useful to solve the question of deviating from the center of gravity. But, dual-motor drive will certainly bring two motors’drive unsynchronous, we adopted torque regulator’s master-slave control mode, easily realized motors synchronous controlling.
Second, against the disturbance torque, we adopted the model reference adaptive control strategy for three-axis rotary table control system design. The paper set up three axises’dynamic model for three-axis turntable, then according to the performance requirements, set reference model and finally built a complete model reference system simulation block diagram. At the same time, we studied three-order model following two-order model, the results showed three-order model following three-order model was not a big difference. The way of model reference adaptive control used in the system simulation showed that it could realize good tracking and inhibit effectively outside disturbance and parameters changing when the system existed nonlinear and strong load disturbance.
We set up three single-axis control system mathmatics model, used classic PID strategy by the way of double loop: speed loop and position loop to complete the lead and lag correction for turntable control system. For the higher bandwidth requirements to the three-axis turntable, we made outline as an example, adopted complex control methods of the feedforward control plus feedback control. The results showed that feedforward control could improve response speed and reduce steady-state error when it could ensure the same stable situation. We compared classic PID with model reference adaptive control, showing that PID could almost meet the controlling requirements for the precise mathematical model and the controlled object’s a weak change, but when there are significant changes in the controlled object or disturbance is large, PID control strategy would not meet the requirements. Compared with the PID, model reference adaptive control strategy can achieve a better dynamic performance and steady precision.
随着武器系统精度的不断提高,对其测试装置的要求也越来越高。论文首先简要阐述了国内外三轴转台的研究现状,并简要总结了我国转台的发展方向、各类控制方法在该领域的应用情况以及转台控制系统存在的主要问题。
根据系统的性能指标要求,给出了三轴转台的总体控制系统设计方案。区别于普通转台单电机驱动的方式,我们采用双电机驱动,不仅能够提供较大的转矩,同时也有利于解决偏心问题。但是,双电机驱动必然会带来两个电机的同步控制问题,论文采用了转矩调节器的主从控制方式,简易地实现了电机的同步控制。
论文针对扰动力矩提出采用模型参考自适应控制策略对三轴转台进行控制系统设计。论文分别建立了三轴转台三个轴的动力学模型,然后根据系统性能指标要求,设定了参考模型,并最终搭建了完整的模型参考自适应系统仿真框图。同时对三阶模型跟踪二阶模型的效果进行了考察,结果表明与三阶模型跟踪三阶模型效果相差不大。模型参考自适应控制方法的系统仿真表明,在系统存在非线性特性和较强的负载干扰力矩时,该控制系统能够有效抑制外界干扰和参数摄动的影响,实现了良好的跟踪特性。
论文建立了三个单轴控制系统数学模型,用经典的PID控制策略,以速度环和位置环双闭环的控制方式,对转台系统完成了超前滞后校正设计。针对转台要求频带宽度较高的现象,我们以外框为例采取了前馈控制加反馈控制的复合控制方式,结果表明前馈控制可以在保证稳定性不变的情况下,提高系统响应速度以及减小稳态误差。对经典的PID控制策略和模型参考自适应控制策略进行了比较,结果表明,PID可以在对精确的数学模型以及被控对象在微弱变化时的控制效果满足要求,而当控制对象有较大变化或者扰动较大时,其控制效果不良。与PID相比,模型参考自适应控制策略取得了更好的动态性能和稳态精度。
Three-axis turntable is applied in-the-loop simulation system to simulate the measured object pose variation. In the paper, we research on three-axis turntable.Basing on the practical project, we mainly research the design of the three-axis turntable.
With the improvement of the precision weapons systems, their testing devices need increasingly high requirements. First, briefly described the current research state of the domestic and international three-axis turntable, and concluded our cuntry’s turntable development direction and kinds of contolling ways’application and main questions existed in three-axis turntable control system.
According to the system performance requirements of three-axis turntable, we proposed the overall control system design program. Different from single-motor drive for the turntable, we adopted the style of the dual-motor drive. It not only can supply enough torque, but also is useful to solve the question of deviating from the center of gravity. But, dual-motor drive will certainly bring two motors’drive unsynchronous, we adopted torque regulator’s master-slave control mode, easily realized motors synchronous controlling.
Second, against the disturbance torque, we adopted the model reference adaptive control strategy for three-axis rotary table control system design. The paper set up three axises’dynamic model for three-axis turntable, then according to the performance requirements, set reference model and finally built a complete model reference system simulation block diagram. At the same time, we studied three-order model following two-order model, the results showed three-order model following three-order model was not a big difference. The way of model reference adaptive control used in the system simulation showed that it could realize good tracking and inhibit effectively outside disturbance and parameters changing when the system existed nonlinear and strong load disturbance.
We set up three single-axis control system mathmatics model, used classic PID strategy by the way of double loop: speed loop and position loop to complete the lead and lag correction for turntable control system. For the higher bandwidth requirements to the three-axis turntable, we made outline as an example, adopted complex control methods of the feedforward control plus feedback control. The results showed that feedforward control could improve response speed and reduce steady-state error when it could ensure the same stable situation. We compared classic PID with model reference adaptive control, showing that PID could almost meet the controlling requirements for the precise mathematical model and the controlled object’s a weak change, but when there are significant changes in the controlled object or disturbance is large, PID control strategy would not meet the requirements. Compared with the PID, model reference adaptive control strategy can achieve a better dynamic performance and steady precision.
引文
1张刚,宋义.光纤制导控制系统半实物仿真设计研究.战术导弹控制技术. 2006,(3):77-79
2柴晓辉.三轴转台伺服系统设计.哈尔滨工程大学硕士论文. 2007:5-8
3孙智超.三轴转台控制器的研制.哈尔滨工业大学硕士论文. 2007:6-8
4 Wu yue-jie, Wang Wei-hong, Er Lian-jie. Design & realization of control system of the three-axis electric-driven flight turntable. Journal of System Simulation. 2002,14(1):97-99
5赵欣.三轴仿真转台伺服控制卡的设计及滤波算法的研究.哈尔滨工业大学硕士论文. 2007:7-10
6李醇铼.三轴电控转台的自适应控制.哈尔滨工业大学硕士论文. 2006:5-10
7 Xie Mu-jun, Wang Zhi-qian, Wang Lian-ming. Application Research of Intelligent Alogrithm in Electric-driven Flight Simulation Turntable. Computer Society. 2008,5(8):154-157
8刘春芳,吴盛林,曹健.三轴飞行模拟仿真转台的设计及控制问题研究.中国惯性技术学报. 2003, 11(1):62-66
9周耀兵.三轴转台伺服控制研究.哈尔滨工程大学硕士论文. 2007:6-9
10苏婷婷.三自由度转台的控制与应用.哈尔滨工程大学硕士论文. 2007:13-15
11邹秀斌.三轴仿真转台关键技术研究.合肥工业大学硕士论文. 2005:22-24
12周长义.三轴飞行仿真转台控制系统设计与控制算法研究.中国科学院博士学位论文. 2005:18-21
13李强.三轴仿真转台设计及动力学研究.哈尔滨工程大学. 2007:22-23
14黎静,黄勇.基于一种三轴转台的控制系统设计.水雷战与舰船防护. 2008, 16(4):26-29
15张深.直流无刷电动机原理及应用.北京:机械工业出版社. 2004.
16肖卫国,尔联洁.雷达寻的制导半实物仿真误差研究.计算机仿真. 2007, 25(5):259-263
17 Hung Chao-yu, Fang Chun-min, Wang Chun-yu. Navigation application and calibration method for gyroscope free strap-down inertial navigation system.2006:57-68
18 Xu Bo, Sun Feng. A Fog Online Calibration Research Based on High-precision three-axis Turntable.2009 International Asia Conference on Informatics in Control, Automation and Robotics. 2009,7(9):454-458
19 Liao Ying-xin. A Design for a Temperature-controller Based on Fuzzy Algorithm for an Adhesive Preparation Process. China Wood Industry. 2004,18(6):16-18
20苏婷婷.三自由度转台的控制与应用.哈尔滨工程大学硕士论文. 2007:33-35
21文方,姜孝华.多级电机同步驱动控制系统.电气传动. 2000,(5):14-17
22许春权,胡洪国,杨汝清.多伺服电机的串联同步控制.电气自动化. 2001,(4):21-22
23刘希喆,吴捷,皮佑国,王洪勇.硬联接双电机的变频同步驱动方案研究.中国农村水利水电. 2003(3):57-59
24周锋,王砚宁.同轴串联的双电机控制系统.电气传动.2005,35(8):22-24
25于双,王旭永.三轴转台中框双马达驱动控制技术研究.功能部件. 2006,(12):105-107
26杨晨娜,张怡.双电机同步控制系统的设计与仿真.工业控制计算机. 2009,22(1):36-37
27张超,裴延涛.基于矢量控制的同轴串联双电机负载平衡系统.电工电气. 2010,(2):33-35
28 C. Canudas de Wit, H. Olsson,K. J, Astron, P. Lischinsky. A New Model for Control of Systems Friction. IEEE TRANSACTION ON CONTROL. 2001,40(3):419-425
29 Qu Zhi-yong, Yu Yao. Derivation of Error Models and Error Compensation Procedure for Simulation Turntable Using Multi-Body Kinematics. International Conference on Mechatronics & Automation. 2005:1408-1411
30何占胜,金哲,唐静.半实物仿真中三轴转台误差分析.海军航空工程学院学报. 2004,19(3):358-360
31 Hui Zhang and Kwan-Yee K.Wong. Self-Calibration of Turntable Sequences from Silhouettes. Transactions on Pattern Analysis and Machine Intelligence. 2009,31(1):5-15
32 Z. S.Wang, Y. Wang, B. K. Su. Friction Compensation for High PrecisionTurntable Using Adaptive Sliding Mode Controller. IEEE Conference on Industrial Electronics and Applications. 2007:1090-1094
33 T. John Koo. Stable Model Reference Adaptive Fuzzy Control of a Class of Nonlinear Systems. IEEE TRANSACTION ON FUZZY SYSTEMS. 2001, 9(4):624-636
34邵俊鹏,徐星辉,贾慧娟. MATLAB在模型参考模糊自适应控制系统仿真中的应用.计算机仿真. 2003,20(1):59-61
35 Xu Fengxia, Zhao Xuezeng, Lu Zhongda. Disturbance Restriant in Turntable Dynamic Unbalance Based on Adaptive Finite-dimensional Repetive Control. Proceedings of the 27 Chinese Control Conference. 2008:16-19
36 Z. S. Wang, Y. Wang, B. K. Su. Friction Compensation for High Precision Turntable Using Adaptive Sliding Mode Controller. Industrial Electronics and Applications. 2007:1090-1094
37林健华,杨俊华,张有松,吕惠子.基于模型参考自适应的无刷双馈电机控制系统.控制与应用技术. 2008,35(10):36-40
38 PATRICK N A, CUI J J. Adaptive Algorithms for Sparse Echo Cancellation. Applies Speech and Audio Processing. 2006,86(6):1182-1192
39 Heng Qinghai, Lu Jing, Heng Qingzhu, Qian Huang, Li Bo. Non-fragile Robust Design for Servo Control System of Turntable. CCDC2008. 2008:3490-3493
40 N. ANDRIANOS. C. DIEZ, L. A. DEMORE. Flight table orientation error transparency for hardware-in-th-loop facilities. Proceedings of SPIE. 2001,4366(5):269-282
41 N. Huang, H. Tuan, T. Narikiyo. Adaptive controls for nonlinearly parameterized uncertainties in robot manipulators. Decision and Contorl. 2002:1727-1732
42纪志成,沈艳霞,姜建国.基于Matlab无刷直流电机系统仿真建模的新方法.系统仿真学报. 2003,15(12):1745-1749
43赵礼辉,黄虎,刘新田.转台双闭环调速系统的仿真设计.科技资讯. 2008,9(2):33-34
44张勇.无刷直流电机双闭环控制系统的研究.内蒙古石油化工. 2009, (20):14-16
45马强,刘延斌.三轴转台模糊PID控制研究.河南科技大学学报. 2008, 29(4):4-9
46 Y. Lin and Y. shen. Modeling of five-axis machine tool metrology models using the matrix summation approach. The International Journal of Advanced Manufacturing Technology. 2003, 21(4):243-248
47 Janalee Graham, Donald Hibbard, Doug Martin. Outdoor Vehicular Test Range Turntable Impact on Electric-Field Uniform Study. NIST Report. 2008:1699-1705
48 Katebi M R and M. H. Moradi. Predictive PID Controllers. Control Theory Application. 2001,148(6):478-487
49 Hassan B. Kazemian. Development of an Intelligent Fuzzy Controller.2001 IEEE International Fuzzy Systems Conference. 2001:517-520
50 Moradi M. H, M.R. Katebi, M.A. Johnson. Predictive PID Control: A New Algorithm. The 27th Annual Conference of the IEEE Industrial Electronics Society. 2001:764-769
51 Wang Jiangjiang, Zhang Chunfa, Jing Youyin. Study of Neural Network PID Contorl in Variable-frequency Air-conditoning System. Control and Automation. 2007:317-322
52 Masanori Yukitomo, Takashi Shigemasa. A Two Degrees of Freedom PID Control System, its Features and Applications. The 5th Asian Control Conference. 2004:456-459
2柴晓辉.三轴转台伺服系统设计.哈尔滨工程大学硕士论文. 2007:5-8
3孙智超.三轴转台控制器的研制.哈尔滨工业大学硕士论文. 2007:6-8
4 Wu yue-jie, Wang Wei-hong, Er Lian-jie. Design & realization of control system of the three-axis electric-driven flight turntable. Journal of System Simulation. 2002,14(1):97-99
5赵欣.三轴仿真转台伺服控制卡的设计及滤波算法的研究.哈尔滨工业大学硕士论文. 2007:7-10
6李醇铼.三轴电控转台的自适应控制.哈尔滨工业大学硕士论文. 2006:5-10
7 Xie Mu-jun, Wang Zhi-qian, Wang Lian-ming. Application Research of Intelligent Alogrithm in Electric-driven Flight Simulation Turntable. Computer Society. 2008,5(8):154-157
8刘春芳,吴盛林,曹健.三轴飞行模拟仿真转台的设计及控制问题研究.中国惯性技术学报. 2003, 11(1):62-66
9周耀兵.三轴转台伺服控制研究.哈尔滨工程大学硕士论文. 2007:6-9
10苏婷婷.三自由度转台的控制与应用.哈尔滨工程大学硕士论文. 2007:13-15
11邹秀斌.三轴仿真转台关键技术研究.合肥工业大学硕士论文. 2005:22-24
12周长义.三轴飞行仿真转台控制系统设计与控制算法研究.中国科学院博士学位论文. 2005:18-21
13李强.三轴仿真转台设计及动力学研究.哈尔滨工程大学. 2007:22-23
14黎静,黄勇.基于一种三轴转台的控制系统设计.水雷战与舰船防护. 2008, 16(4):26-29
15张深.直流无刷电动机原理及应用.北京:机械工业出版社. 2004.
16肖卫国,尔联洁.雷达寻的制导半实物仿真误差研究.计算机仿真. 2007, 25(5):259-263
17 Hung Chao-yu, Fang Chun-min, Wang Chun-yu. Navigation application and calibration method for gyroscope free strap-down inertial navigation system.2006:57-68
18 Xu Bo, Sun Feng. A Fog Online Calibration Research Based on High-precision three-axis Turntable.2009 International Asia Conference on Informatics in Control, Automation and Robotics. 2009,7(9):454-458
19 Liao Ying-xin. A Design for a Temperature-controller Based on Fuzzy Algorithm for an Adhesive Preparation Process. China Wood Industry. 2004,18(6):16-18
20苏婷婷.三自由度转台的控制与应用.哈尔滨工程大学硕士论文. 2007:33-35
21文方,姜孝华.多级电机同步驱动控制系统.电气传动. 2000,(5):14-17
22许春权,胡洪国,杨汝清.多伺服电机的串联同步控制.电气自动化. 2001,(4):21-22
23刘希喆,吴捷,皮佑国,王洪勇.硬联接双电机的变频同步驱动方案研究.中国农村水利水电. 2003(3):57-59
24周锋,王砚宁.同轴串联的双电机控制系统.电气传动.2005,35(8):22-24
25于双,王旭永.三轴转台中框双马达驱动控制技术研究.功能部件. 2006,(12):105-107
26杨晨娜,张怡.双电机同步控制系统的设计与仿真.工业控制计算机. 2009,22(1):36-37
27张超,裴延涛.基于矢量控制的同轴串联双电机负载平衡系统.电工电气. 2010,(2):33-35
28 C. Canudas de Wit, H. Olsson,K. J, Astron, P. Lischinsky. A New Model for Control of Systems Friction. IEEE TRANSACTION ON CONTROL. 2001,40(3):419-425
29 Qu Zhi-yong, Yu Yao. Derivation of Error Models and Error Compensation Procedure for Simulation Turntable Using Multi-Body Kinematics. International Conference on Mechatronics & Automation. 2005:1408-1411
30何占胜,金哲,唐静.半实物仿真中三轴转台误差分析.海军航空工程学院学报. 2004,19(3):358-360
31 Hui Zhang and Kwan-Yee K.Wong. Self-Calibration of Turntable Sequences from Silhouettes. Transactions on Pattern Analysis and Machine Intelligence. 2009,31(1):5-15
32 Z. S.Wang, Y. Wang, B. K. Su. Friction Compensation for High PrecisionTurntable Using Adaptive Sliding Mode Controller. IEEE Conference on Industrial Electronics and Applications. 2007:1090-1094
33 T. John Koo. Stable Model Reference Adaptive Fuzzy Control of a Class of Nonlinear Systems. IEEE TRANSACTION ON FUZZY SYSTEMS. 2001, 9(4):624-636
34邵俊鹏,徐星辉,贾慧娟. MATLAB在模型参考模糊自适应控制系统仿真中的应用.计算机仿真. 2003,20(1):59-61
35 Xu Fengxia, Zhao Xuezeng, Lu Zhongda. Disturbance Restriant in Turntable Dynamic Unbalance Based on Adaptive Finite-dimensional Repetive Control. Proceedings of the 27 Chinese Control Conference. 2008:16-19
36 Z. S. Wang, Y. Wang, B. K. Su. Friction Compensation for High Precision Turntable Using Adaptive Sliding Mode Controller. Industrial Electronics and Applications. 2007:1090-1094
37林健华,杨俊华,张有松,吕惠子.基于模型参考自适应的无刷双馈电机控制系统.控制与应用技术. 2008,35(10):36-40
38 PATRICK N A, CUI J J. Adaptive Algorithms for Sparse Echo Cancellation. Applies Speech and Audio Processing. 2006,86(6):1182-1192
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